+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters Centerline goodness : 0.981413 Centerline is valid? [0, True] SLAMing on 0.054839173 meters Centerline goodness : 0.985192 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 0.99998834 -0.00482841 0. 0.02913282] [ 0.00482841 0.99998834 0. -0.00296586] [ 0. 0. 1. -0.00254723] [ 0. 0. 0. 1. ]] SLAMing on 0.08483917299999999 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 0.99996321 -0.00857792 0. 0.05973421] [ 0.00857792 0.99996321 0. -0.00395444] [ 0. 0. 1. -0.00489962] [ 0. 0. 0. 1. ]] SLAMing on 0.11483917299999999 meters Centerline goodness : 0.986546 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.02 [[ 0.99990732 -0.01361458 0. 0.09368274] [ 0.01361458 0.99990732 0. -0.00437348] [ 0. 0. 1. -0.02450265] [ 0. 0. 0. 1. ]] SLAMing on 0.144839173 meters Centerline goodness : 0.984266 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 0.99973462 -0.02303664 0. 0.12111226] [ 0.02303664 0.99973462 0. -0.00597453] [ 0. 0. 1. -0.04221618] [ 0. 0. 0. 1. ]] SLAMing on 0.174839173 meters Centerline goodness : 0.982462 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.04 [[ 0.99972125 -0.02360977 0. 0.15349449] [ 0.02360977 0.99972125 0. -0.00823094] [ 0. 0. 1. -0.04292381] [ 0. 0. 0. 1. ]] SLAMing on 0.20483917299999999 meters Centerline goodness : 0.986567 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:-0.04 [[ 0.99978188 -0.02088498 0. 0.18746732] [ 0.02088498 0.99978188 0. -0.01082856] [ 0. 0. 1. -0.03605113] [ 0. 0. 0. 1. ]] SLAMing on 0.23483917299999998 meters Centerline goodness : 0.988925 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:-0.04 [[ 0.99969772 -0.02458606 0. 0.21852948] [ 0.02458606 0.99969772 0. -0.00762971] [ 0. 0. 1. -0.04036699] [ 0. 0. 0. 1. ]] SLAMing on 0.264839173 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.00, Z:-0.05 [[ 0.99959437 -0.0284797 0. 0.24649644] [ 0.0284797 0.99959437 0. -0.00477309] [ 0. 0. 1. -0.04934926] [ 0. 0. 0. 1. ]] SLAMing on 0.294839173 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.01, Z:-0.04 [[ 0.99956711 -0.02942079 0. 0.27577259] [ 0.02942079 0.99956711 0. -0.00660018] [ 0. 0. 1. -0.04063747] [ 0. 0. 0. 1. ]] SLAMing on 0.324839173 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.01, Z:-0.05 [[ 0.99962765 -0.02728681 0. 0.3093211 ] [ 0.02728681 0.99962765 0. -0.00756344] [ 0. 0. 1. -0.05310634] [ 0. 0. 0. 1. ]] SLAMing on 0.35483917299999995 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.00, Z:-0.05 [[ 0.99970279 -0.02437875 0. 0.34198698] [ 0.02437875 0.99970279 0. -0.00386625] [ 0. 0. 1. -0.05324628] [ 0. 0. 0. 1. ]] SLAMing on 0.384839173 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:0.37, Y:0.01, Z:-0.04 [[ 0.99987441 -0.01584789 0. 0.37326936] [ 0.01584789 0.99987441 0. 0.00822369] [ 0. 0. 1. -0.03509538] [ 0. 0. 0. 1. ]] SLAMing on 0.414839173 meters Centerline goodness : 0.985077 Centerline is valid? [True, True] Translation: X:0.40, Y:0.01, Z:-0.06 [[ 0.99996981 -0.00777011 0. 0.4046783 ] [ 0.00777011 0.99996981 0. 0.01041064] [ 0. 0. 1. -0.05973829] [ 0. 0. 0. 1. ]] SLAMing on 0.444839173 meters Centerline goodness : 0.983536 Centerline is valid? [True, True] Translation: X:0.44, Y:0.01, Z:-0.07 [[ 0.99999739 0.00228503 0. 0.43653105] [-0.00228503 0.99999739 0. 0.01072038] [ 0. 0. 1. -0.07235057] [ 0. 0. 0. 1. ]] SLAMing on 0.47483917299999995 meters Centerline goodness : 0.982825 Centerline is valid? [True, True] Translation: X:0.47, Y:0.01, Z:-0.07 [[ 0.99998242 0.00593003 0. 0.46589025] [-0.00593003 0.99998242 0. 0.00991602] [ 0. 0. 1. -0.07426129] [ 0. 0. 0. 1. ]] SLAMing on 0.504839173 meters Centerline goodness : 0.981841 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.07 [[ 0.99995714 0.00925802 0. 0.49465398] [-0.00925802 0.99995714 0. 0.01059667] [ 0. 0. 1. -0.07135542] [ 0. 0. 0. 1. ]] SLAMing on 0.5348391730000001 meters Centerline goodness : 0.978080 Centerline is valid? [True, True] Translation: X:0.53, Y:0.01, Z:-0.08 [[ 0.99996313 0.00858751 0. 0.52629772] [-0.00858751 0.99996313 0. 0.01318753] [ 0. 0. 1. -0.07695246] [ 0. 0. 0. 1. ]] SLAMing on 0.5648391730000001 meters Centerline goodness : 0.983107 Centerline is valid? [True, True] Translation: X:0.56, Y:0.02, Z:-0.08 [[ 0.99999818 -0.00190743 0. 0.55615258] [ 0.00190743 0.99999818 0. 0.01546708] [ 0. 0. 1. -0.08332346] [ 0. 0. 0. 1. ]] SLAMing on 0.594839173 meters Centerline goodness : 0.981677 Centerline is valid? [True, True] Translation: X:0.59, Y:0.02, Z:-0.09 [[ 0.99991661 -0.01291419 0. 0.58721858] [ 0.01291419 0.99991661 0. 0.01662098] [ 0. 0. 1. -0.08737304] [ 0. 0. 0. 1. ]] SLAMing on 0.624839173 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:0.61, Y:0.02, Z:-0.06 [[ 0.99970917 -0.02411588 0. 0.61374165] [ 0.02411588 0.99970917 0. 0.01948827] [ 0. 0. 1. -0.06155544] [ 0. 0. 0. 1. ]] SLAMing on 0.654839173 meters Centerline goodness : 0.983943 Centerline is valid? [True, True] Translation: X:0.64, Y:0.02, Z:-0.07 [[ 0.99913518 -0.04157994 0. 0.64444537] [ 0.04157994 0.99913518 0. 0.02100172] [ 0. 0. 1. -0.06676222] [ 0. 0. 0. 1. ]] SLAMing on 0.684839173 meters Centerline goodness : 0.982795 Centerline is valid? [True, True] Translation: X:0.68, Y:0.02, Z:-0.08 [[ 0.99883874 -0.04817848 0. 0.67879764] [ 0.04817848 0.99883874 0. 0.02130903] [ 0. 0. 1. -0.0765137 ] [ 0. 0. 0. 1. ]] SLAMing on 0.714839173 meters Centerline goodness : 0.984093 Centerline is valid? [True, True] Translation: X:0.71, Y:0.02, Z:-0.09 [[ 0.99892307 -0.04639724 0. 0.7087399 ] [ 0.04639724 0.99892307 0. 0.01824413] [ 0. 0. 1. -0.0949151 ] [ 0. 0. 0. 1. ]] SLAMing on 0.744839173 meters Centerline goodness : 0.985123 Centerline is valid? [True, True] Translation: X:0.74, Y:0.02, Z:-0.10 [[ 0.99899478 -0.04482661 0. 0.73948873] [ 0.04482661 0.99899478 0. 0.01702718] [ 0. 0. 1. -0.09881864] [ 0. 0. 0. 1. ]] SLAMing on 0.774839173 meters Centerline goodness : 0.989115 Centerline is valid? [True, True] Translation: X:0.76, Y:0.02, Z:-0.12 [[ 0.99894891 -0.04583746 0. 0.76288898] [ 0.04583746 0.99894891 0. 0.02013472] [ 0. 0. 1. -0.12076992] [ 0. 0. 0. 1. ]] SLAMing on 0.8048391730000001 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:-0.13 [[ 0.9990906 -0.04263772 0. 0.79336351] [ 0.04263772 0.9990906 0. 0.01714872] [ 0. 0. 1. -0.12695395] [ 0. 0. 0. 1. ]] SLAMing on 0.834839173 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.13 [[ 0.99998472 -0.00552746 0. 0.80982753] [ 0.00552746 0.99998472 0. 0.02386362] [ 0. 0. 1. -0.13290338] [ 0. 0. 0. 1. ]] SLAMing on 0.864839173 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:0.87, Y:0.01, Z:-0.14 [[ 0.99952122 -0.0309409 0. 0.87043712] [ 0.0309409 0.99952122 0. 0.00522426] [ 0. 0. 1. -0.14459168] [ 0. 0. 0. 1. ]] SLAMing on 0.894839173 meters Centerline goodness : 0.921417 Centerline is valid? [True, False] Translation: X:0.72, Y:0.02, Z:-0.19 [[ 0.99949192 -0.03114144 -0.00679029 0.7216156 ] [ 0.03111908 0.99950999 -0.00337358 0.01793763] [ 0.00689202 0.00316056 0.99997126 -0.18527157] [ 0. 0. 0. 1. ]] SLAMing on 0.924839173 meters Centerline goodness : 0.951354 Centerline is valid? [False, True] Translation: X:0.73, Y:0.03, Z:-0.17 [[ 0.98835247 0.05477916 -0.14198109 0.73438208] [-0.05967521 0.99775315 -0.03045521 0.03211565] [ 0.13999377 0.03857323 0.98940075 -0.16725593] [ 0. 0. 0. 1. ]] SLAMing on 0.954839173 meters Centerline goodness : 0.951354 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.01, Z:-0.20 [[ 0.98987682 0.06003354 -0.12860737 0.7600056 ] [-0.05396145 0.99728075 0.05019238 -0.01441319] [ 0.13127088 -0.04274444 0.99042459 -0.19932246] [ 0. 0. 0. 1. ]] SLAMing on 0.984839173 meters Centerline goodness : 0.981234 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:-0.17 [[ 0.98707623 0.09586878 -0.12841216 0.72739622] [-0.08991384 0.99462191 0.05140772 -0.00853798] [ 0.13264995 -0.03919731 0.99038758 -0.16899726] [ 0. 0. 0. 1. ]] SLAMing on 1.014839173 meters Centerline goodness : 0.869793 Centerline is valid? [True, False] Translation: X:0.80, Y:0.00, Z:-0.18 [[ 0.9981062 0.03337867 -0.05167096 0.80094171] [-0.03425463 0.99928247 -0.01616088 0.003397 ] [ 0.05109445 0.01790024 0.99853339 -0.18029651] [ 0. 0. 0. 1. ]] SLAMing on 1.044839173 meters Centerline goodness : 0.983321 Centerline is valid? [False, True] Translation: X:0.84, Y:-0.01, Z:-0.13 [[ 0.9978354 0.0118632 -0.0646822 0.84206656] [-0.01159884 0.99992278 0.00446099 -0.00595541] [ 0.06473013 -0.0037011 0.99789594 -0.13413201] [ 0. 0. 0. 1. ]] SLAMing on 1.074839173 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:-0.08 [[ 0.99773282 0.01798372 -0.06485216 0.91669927] [-0.01812404 0.9998345 -0.00157611 -0.0071086 ] [ 0.06481308 0.00274792 0.99789364 -0.07805603] [ 0. 0. 0. 1. ]] SLAMing on 1.104839173 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.09 [[ 0.99735914 -0.03301492 -0.06468974 0.92102221] [ 0.03356382 0.99940906 0.00741662 0.01324361] [ 0.06440665 -0.00956827 0.99787786 -0.09443362] [ 0. 0. 0. 1. ]] SLAMing on 1.1348391729999998 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:0.94, Y:0.02, Z:-0.08 [[ 0.99781162 -0.01334369 -0.06476039 0.93829888] [ 0.01352708 0.99990564 0.00239409 0.01820651] [ 0.06472233 -0.00326487 0.99789797 -0.07966614] [ 0. 0. 0. 1. ]] SLAMing on 1.1648391729999998 meters Centerline goodness : 0.870008 Centerline is valid? [True, False] Translation: X:0.83, Y:0.00, Z:-0.17 [[ 9.89512841e-01 5.94193752e-02 -1.31657420e-01 8.33289240e-01] [-5.36678291e-02 9.97460853e-01 4.68146397e-02 2.84235146e-04] [ 1.34104819e-01 -3.92579192e-02 9.90189231e-01 -1.65600131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1948391729999999 meters Centerline goodness : 0.852332 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.07 [[ 0.49182579 -0.07253788 -0.86766678 0.77874632] [ 0.85154657 0.24790887 0.46196281 -0.21778721] [ 0.18159249 -0.96606389 0.18369736 -0.06601747] [ 0. 0. 0. 1. ]] SLAMing on 1.224839173 meters Centerline goodness : 0.725349 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.17 [[ 0.94665757 -0.28305332 -0.15401381 0.53003736] [ 0.31744439 0.73699578 0.5967129 -0.2023809 ] [-0.05539403 -0.6137736 0.78753633 -0.16639046] [ 0. 0. 0. 1. ]] SLAMing on 1.254839173 meters Centerline goodness : 0.952182 Centerline is valid? [False, True] Translation: X:0.46, Y:0.56, Z:0.42 [[ 0.85110304 -0.51231113 0.11472108 0.46244011] [ 0.51448352 0.77038439 -0.37658279 0.56350287] [ 0.10454823 0.37953286 0.91925213 0.41536248] [ 0. 0. 0. 1. ]] SLAMing on 1.284839173 meters Centerline goodness : 0.971712 Centerline is valid? [True, True] Translation: X:0.59, Y:0.45, Z:0.21 [[ 0.84942003 -0.52087236 -0.08472075 0.59207009] [ 0.51760306 0.85361422 -0.05856476 0.45121084] [ 0.10282361 0.00589436 0.99468214 0.20962327] [ 0. 0. 0. 1. ]] SLAMing on 1.314839173 meters Centerline goodness : 0.966428 Centerline is valid? [True, True] Translation: X:0.64, Y:0.47, Z:0.23 [[ 0.86156851 -0.5000506 -0.0874591 0.6415587 ] [ 0.49713638 0.86599085 -0.05399324 0.46620821] [ 0.10273813 0.00303978 0.99470379 0.22700456] [ 0. 0. 0. 1. ]] SLAMing on 1.3448391729999998 meters Centerline goodness : 0.969124 Centerline is valid? [True, True] Translation: X:0.64, Y:0.48, Z:0.22 [[ 0.85107706 -0.51689171 -0.09214549 0.64261044] [ 0.51491494 0.85600999 -0.04592931 0.48410381] [ 0.10261794 -0.00835771 0.99468573 0.22016847] [ 0. 0. 0. 1. ]] SLAMing on 1.3748391729999998 meters Centerline goodness : 0.949140 Centerline is valid? [True, False] Translation: X:0.64, Y:0.48, Z:0.21 [[ 0.84704098 -0.52298468 -0.09491364 0.63797797] [ 0.52156153 0.85221727 -0.04122258 0.47884752] [ 0.10244582 -0.01458609 0.99463164 0.20900722] [ 0. 0. 0. 1. ]] SLAMing on 1.4048391729999998 meters Centerline goodness : 0.947202 Centerline is valid? [False, False] Translation: X:0.64, Y:0.48, Z:0.21 [[ 0.84539183 -0.52357499 -0.10574447 0.63824389] [ 0.52190836 0.85180867 -0.04509601 0.47687026] [ 0.1136852 -0.01706513 0.99337025 0.20872974] [ 0. 0. 0. 1. ]] SLAMing on 1.4348391729999999 meters Centerline goodness : 0.952843 Centerline is valid? [False, True] Translation: X:0.63, Y:0.47, Z:0.20 [[ 0.84261296 -0.52680378 -0.11171922 0.62773579] [ 0.52654181 0.84945877 -0.03425677 0.4670867 ] [ 0.11294747 -0.02995964 0.99314918 0.19506501] [ 0. 0. 0. 1. ]] SLAMing on 1.4648391729999999 meters Centerline goodness : 0.974910 Centerline is valid? [True, True] Translation: X:0.65, Y:0.50, Z:0.18 [[ 0.83882047 -0.53531917 -0.09906363 0.64536817] [ 0.53235422 0.84463304 -0.05651564 0.50251607] [ 0.11392632 -0.00533046 0.9934749 0.17933504] [ 0. 0. 0. 1. ]] SLAMing on 1.494839173 meters Centerline goodness : 0.973775 Centerline is valid? [True, True] Translation: X:0.67, Y:0.51, Z:0.18 [[ 0.84229519 -0.52978157 -0.09934936 0.67461987] [ 0.52683717 0.84811843 -0.05601537 0.51299812] [ 0.11393594 -0.00515946 0.9934747 0.17731165] [ 0. 0. 0. 1. ]] SLAMing on 1.524839173 meters Centerline goodness : 0.765480 Centerline is valid? [True, False] Translation: X:0.46, Y:0.42, Z:0.10 [[ 0.8277631 -0.55744998 -0.0637006 0.46478761] [ 0.55331211 0.82985205 -0.07205058 0.41910738] [ 0.09302667 0.0243945 0.99536473 0.10154554] [ 0. 0. 0. 1. ]] SLAMing on 1.554839173 meters Centerline goodness : 0.796423 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:0.12 [[ 0.81223044 -0.56936956 -0.12688582 0.4998958 ] [ 0.55818786 0.82178377 -0.11444538 0.45234815] [ 0.16943443 0.0221299 0.98529297 0.11771278] [ 0. 0. 0. 1. ]] SLAMing on 1.584839173 meters Centerline goodness : 0.974125 Centerline is valid? [False, True] Translation: X:0.68, Y:0.58, Z:0.25 [[ 0.83105483 -0.5432606 -0.11923001 0.68448689] [ 0.53747695 0.83956254 -0.07907768 0.57883462] [ 0.14306084 0.00163451 0.98971255 0.24735788] [ 0. 0. 0. 1. ]] SLAMing on 1.6148391729999998 meters Centerline goodness : 0.745087 Centerline is valid? [True, False] Translation: X:0.56, Y:0.50, Z:0.17 [[ 0.84995808 -0.5175087 -0.09877252 0.56067579] [ 0.51583801 0.85556744 -0.04376635 0.49668803] [ 0.10715602 -0.01375106 0.99414712 0.17487195] [ 0. 0. 0. 1. ]] SLAMing on 1.6448391729999998 meters Centerline goodness : 0.972145 Centerline is valid? [False, True] Translation: X:0.37, Y:0.61, Z:1.03 [[ 0.75580781 -0.51385313 0.40584419 0.3652335 ] [ 0.59905711 0.2924055 -0.74540566 0.60946433] [ 0.26435796 0.80650727 0.52882974 1.02654692] [ 0. 0. 0. 1. ]] SLAMing on 1.6748391729999998 meters Centerline goodness : 0.959668 Centerline is valid? [True, True] Translation: X:0.63, Y:0.56, Z:0.36 [[ 0.75721648 -0.62503491 -0.1896169 0.63362871] [ 0.61124941 0.78042693 -0.13155971 0.56106632] [ 0.23021155 -0.01628404 0.97300435 0.35905023] [ 0. 0. 0. 1. ]] SLAMing on 1.7048391729999999 meters Centerline goodness : 0.964591 Centerline is valid? [True, True] Translation: X:0.64, Y:0.60, Z:0.37 [[ 0.74892566 -0.63669293 -0.18366401 0.63871871] [ 0.62130352 0.771057 -0.1394742 0.6000041 ] [ 0.23041766 -0.00965529 0.97304392 0.37097549] [ 0. 0. 0. 1. ]] SLAMing on 1.734839173 meters Centerline goodness : 0.963146 Centerline is valid? [True, True] Translation: X:0.67, Y:0.60, Z:0.39 [[ 0.75812957 -0.6260188 -0.1825925 0.67157997] [ 0.60997477 0.77979463 -0.14089397 0.60381083] [ 0.23058693 -0.00456094 0.97304104 0.39145763] [ 0. 0. 0. 1. ]] SLAMing on 1.764839173 meters Centerline goodness : 0.976803 Centerline is valid? [True, True] Translation: X:0.69, Y:0.63, Z:0.40 [[ 0.75217598 -0.63269755 -0.18418769 0.68575056] [ 0.61736031 0.77434286 -0.13877817 0.62980527] [ 0.23042903 -0.00932457 0.97304446 0.39847428] [ 0. 0. 0. 1. ]] SLAMing on 1.794839173 meters Centerline goodness : 0.978583 Centerline is valid? [True, True] Translation: X:0.71, Y:0.65, Z:0.40 [[ 0.75329821 -0.63145398 -0.18386863 0.70764265] [ 0.61597703 0.77536786 -0.13920119 0.64800472] [ 0.23046497 -0.00839885 0.97304437 0.3990092 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8248391729999998 meters Centerline goodness : 0.962624 Centerline is valid? [True, True] Translation: X:0.73, Y:0.66, Z:0.42 [[ 0.7554508 -0.62916024 -0.18289747 0.72773028] [ 0.61330448 0.77725215 -0.14048743 0.66131689] [ 0.23054655 -0.0060405 0.97304255 0.42058011] [ 0. 0. 0. 1. ]] SLAMing on 1.8548391729999998 meters Centerline goodness : 0.976464 Centerline is valid? [True, True] Translation: X:0.77, Y:0.67, Z:0.41 [[ 0.76530174 -0.61712779 -0.1829386 0.76891072] [ 0.60094206 0.78685909 -0.14043297 0.67318907] [ 0.23061199 -0.0024619 0.97304268 0.40545497] [ 0. 0. 0. 1. ]] SLAMing on 1.8848391729999998 meters Centerline goodness : 0.973558 Centerline is valid? [True, True] Translation: X:0.79, Y:0.69, Z:0.41 [[ 0.76887221 -0.61168537 -0.18621635 0.79452962] [ 0.59638713 0.79107512 -0.13609753 0.68504693] [ 0.23055999 -0.00641543 0.97303696 0.40579432] [ 0. 0. 0. 1. ]] SLAMing on 1.9148391729999998 meters Centerline goodness : 0.965415 Centerline is valid? [True, True] Translation: X:0.80, Y:0.72, Z:0.42 [[ 0.76211362 -0.62044552 -0.18501404 0.79575981] [ 0.60501559 0.78421829 -0.13768738 0.7195296 ] [ 0.23051891 -0.00700295 0.97304265 0.42458241] [ 0. 0. 0. 1. ]] SLAMing on 1.9448391729999999 meters Centerline goodness : 0.958034 Centerline is valid? [True, True] Translation: X:0.81, Y:0.74, Z:0.44 [[ 0.76436883 -0.61807024 -0.18365582 0.80830703] [ 0.60213961 0.78611284 -0.13947937 0.74325154] [ 0.23058225 -0.00397277 0.97304473 0.4368486 ] [ 0. 0. 0. 1. ]] SLAMing on 1.974839173 meters Centerline goodness : 0.960295 Centerline is valid? [True, True] Translation: X:0.83, Y:0.76, Z:0.44 [[ 7.67736350e-01 -6.14239933e-01 -1.82456027e-01 8.27816140e-01] [ 5.97823897e-01 7.89118937e-01 -1.41059885e-01 7.62081059e-01] [ 2.30624120e-01 -7.79771704e-04 9.73042603e-01 4.40786079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.004839173 meters Centerline goodness : 0.965790 Centerline is valid? [True, True] Translation: X:0.87, Y:0.78, Z:0.44 [[ 0.77986237 -0.59927034 -0.18080305 0.86858101] [ 0.58193531 0.80052039 -0.14324248 0.7769568 ] [ 0.2305775 0.00649374 0.9730323 0.43978882] [ 0. 0. 0. 1. ]] SLAMing on 2.034839173 meters Centerline goodness : 0.968797 Centerline is valid? [True, True] Translation: X:0.90, Y:0.80, Z:0.44 [[ 0.77862216 -0.59934688 -0.18582475 0.89617445] [ 0.58357975 0.80048668 -0.13658604 0.79661708] [ 0.23061265 -0.00209465 0.97304338 0.43565874] [ 0. 0. 0. 1. ]] SLAMing on 2.064839173 meters Centerline goodness : 0.974624 Centerline is valid? [True, True] Translation: X:0.91, Y:0.82, Z:0.43 [[ 0.78354407 -0.59250092 -0.18708648 0.90659966] [ 0.57694165 0.80556668 -0.13490977 0.82205147] [ 0.23064479 -0.00223023 0.97303546 0.43178406] [ 0. 0. 0. 1. ]] SLAMing on 2.094839173 meters Centerline goodness : 0.975926 Centerline is valid? [True, True] Translation: X:0.92, Y:0.86, Z:0.44 [[ 7.75991039e-01 -6.03314629e-01 -1.83981970e-01 9.18689988e-01] [ 5.87078424e-01 7.97503254e-01 -1.39023319e-01 8.59042670e-01] [ 2.30601022e-01 -1.30994935e-04 9.73048381e-01 4.39736203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1248391730000002 meters Centerline goodness : 0.980977 Centerline is valid? [True, True] Translation: X:0.95, Y:0.87, Z:0.43 [[ 0.78634926 -0.58926818 -0.1855205 0.94793744] [ 0.57312658 0.80793631 -0.13698483 0.86563374] [ 0.23060955 0.00139119 0.97304537 0.43161967] [ 0. 0. 0. 1. ]] SLAMing on 2.154839173 meters Centerline goodness : 0.984153 Centerline is valid? [True, True] Translation: X:0.97, Y:0.88, Z:0.43 [[ 0.78647409 -0.589598 -0.1839367 0.97019148] [ 0.5729732 0.80768698 -0.13908075 0.88386684] [ 0.23056501 0.00399261 0.97304873 0.43221545] [ 0. 0. 0. 1. ]] SLAMing on 2.1848391730000003 meters Centerline goodness : 0.974041 Centerline is valid? [True, True] Translation: X:0.98, Y:0.91, Z:0.44 [[ 0.7799286 -0.59823368 -0.18392347 0.98483572] [ 0.58183966 0.80132034 -0.13909824 0.91026285] [ 0.23059487 0.00147272 0.97304873 0.44229768] [ 0. 0. 0. 1. ]] SLAMing on 2.214839173 meters Centerline goodness : 0.977095 Centerline is valid? [True, True] Translation: X:1.01, Y:0.93, Z:0.44 [[ 7.77614888e-01 -6.01244997e-01 -1.83900897e-01 1.00619489e+00] [ 5.84926753e-01 7.99064497e-01 -1.39128084e-01 9.33960556e-01] [ 2.30598742e-01 6.19514976e-04 9.73048733e-01 4.40025760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters Centerline goodness : 0.978978 Centerline is valid? [True, True] Translation: X:1.04, Y:0.94, Z:0.44 [[ 0.78810432 -0.58728893 -0.18434559 1.03594253] [ 0.57072814 0.80936761 -0.13854044 0.94185384] [ 0.23056661 0.0039731 0.97304843 0.44329442] [ 0. 0. 0. 1. ]] SLAMing on 2.274839173 meters Centerline goodness : 0.979872 Centerline is valid? [True, True] Translation: X:1.06, Y:0.96, Z:0.44 [[ 0.78521613 -0.59130257 -0.18383931 1.05643168] [ 0.57469376 0.8064415 -0.13920915 0.96192475] [ 0.23057038 0.00365797 0.97304877 0.44423404] [ 0. 0. 0. 1. ]] SLAMing on 2.304839173 meters Centerline goodness : 0.982094 Centerline is valid? [True, True] Translation: X:1.08, Y:0.98, Z:0.44 [[ 0.78212032 -0.59539548 -0.18382609 1.08061987] [ 0.57889365 0.80342896 -0.13922662 0.97807529] [ 0.2305861 0.00247621 0.97304878 0.44487614] [ 0. 0. 0. 1. ]] SLAMing on 2.334839173 meters Centerline goodness : 0.966885 Centerline is valid? [True, True] Translation: X:1.11, Y:1.00, Z:0.45 [[ 0.76356954 -0.61901776 -0.1837895 1.10905557] [ 0.60316318 0.78536405 -0.1392749 1.00474754] [ 0.2305553 -0.00450899 0.97304878 0.4548407 ] [ 0. 0. 0. 1. ]] SLAMing on 2.364839173 meters Centerline goodness : 0.965167 Centerline is valid? [True, True] Translation: X:1.13, Y:1.01, Z:0.44 [[ 0.76314196 -0.61859269 -0.18696909 1.13232558] [ 0.60373044 0.78565132 -0.13513535 1.0116431 ] [ 0.23048625 -0.00975147 0.97302672 0.43843893] [ 0. 0. 0. 1. ]] SLAMing on 2.3948391730000003 meters Centerline goodness : 0.968540 Centerline is valid? [True, True] Translation: X:1.15, Y:1.03, Z:0.44 [[ 7.69441639e-01 -6.12066429e-01 -1.82576698e-01 1.15410529e+00] [ 5.95642325e-01 7.90806259e-01 -1.40839201e-01 1.03425799e+00] [ 2.30585742e-01 -3.82862863e-04 9.73051935e-01 4.38474879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.424839173 meters Centerline goodness : 0.978156 Centerline is valid? [True, True] Translation: X:1.18, Y:1.04, Z:0.45 [[ 0.76381502 -0.61907379 -0.1825767 1.17946151] [ 0.60284565 0.78532887 -0.1408392 1.04485018] [ 0.23057261 -0.00249047 0.97305194 0.4541287 ] [ 0. 0. 0. 1. ]] SLAMing on 2.454839173 meters Centerline goodness : 0.972720 Centerline is valid? [True, True] Translation: X:1.20, Y:1.06, Z:0.46 [[ 0.76642218 -0.61584418 -0.18257324 1.20378511] [ 0.59952431 0.78786653 -0.14084368 1.06200948] [ 0.23058111 -0.00151138 0.97305194 0.45890249] [ 0. 0. 0. 1. ]] SLAMing on 2.484839173 meters Centerline goodness : 0.795196 Centerline is valid? [True, False] Translation: X:1.27, Y:1.11, Z:0.48 [[ 0.7644015 -0.61996521 -0.17701269 1.26549136] [ 0.60331887 0.78462593 -0.14271823 1.11148758] [ 0.22736908 0.00229893 0.97380594 0.4807238 ] [ 0. 0. 0. 1. ]] SLAMing on 2.514839173 meters Centerline goodness : 0.970242 Centerline is valid? [False, True] Translation: X:1.24, Y:1.08, Z:0.47 [[ 0.76641506 -0.61625707 -0.18120478 1.24255345] [ 0.60212573 0.7875009 -0.13147981 1.0828639 ] [ 0.22372429 -0.00833995 0.97461679 0.46738027] [ 0. 0. 0. 1. ]] SLAMing on 2.544839173 meters Centerline goodness : 0.966024 Centerline is valid? [True, True] Translation: X:1.26, Y:1.10, Z:0.48 [[ 0.76658287 -0.6158971 -0.18171809 1.26193957] [ 0.60191371 0.78777405 -0.13081257 1.10001402] [ 0.22371988 -0.00909994 0.974611 0.47906079] [ 0. 0. 0. 1. ]] SLAMing on 2.574839173 meters Centerline goodness : 0.960595 Centerline is valid? [True, True] Translation: X:1.26, Y:1.13, Z:0.49 [[ 0.76654953 -0.61585196 -0.1820115 1.26131787] [ 0.60195771 0.78780364 -0.1304314 1.12506396] [ 0.22371575 -0.0095811 0.97460734 0.48589217] [ 0. 0. 0. 1. ]] SLAMing on 2.6048391730000002 meters Centerline goodness : 0.952688 Centerline is valid? [True, True] Translation: X:1.27, Y:1.15, Z:0.52 [[ 0.76110307 -0.62404991 -0.17687236 1.26716592] [ 0.60881842 0.78137728 -0.13707546 1.15378058] [ 0.22374597 -0.00335459 0.97464172 0.5242418 ] [ 0. 0. 0. 1. ]] SLAMing on 2.634839173 meters Centerline goodness : 0.945872 Centerline is valid? [True, False] Translation: X:1.23, Y:1.12, Z:0.51 [[ 0.76396013 -0.61727391 -0.18798364 1.2313842 ] [ 0.60660977 0.78635946 -0.11689048 1.1169697 ] [ 0.21997616 -0.02473305 0.97519166 0.50627487] [ 0. 0. 0. 1. ]] SLAMing on 2.664839173 meters Centerline goodness : 0.943713 Centerline is valid? [False, False] Translation: X:1.20, Y:1.09, Z:0.49 [[ 0.76743872 -0.60989587 -0.19764824 1.20364825] [ 0.60261835 0.79144204 -0.10232611 1.08747132] [ 0.2188354 -0.04057743 0.97491771 0.49262484] [ 0. 0. 0. 1. ]] SLAMing on 2.694839173 meters Centerline goodness : 0.937569 Centerline is valid? [False, False] Translation: X:1.17, Y:1.06, Z:0.48 [[ 0.77127278 -0.60448404 -0.19934228 1.16890173] [ 0.59740256 0.7955527 -0.10102515 1.05750141] [ 0.21965537 -0.04116964 0.97470846 0.4794573 ] [ 0. 0. 0. 1. ]] SLAMing on 2.724839173 meters Centerline goodness : 0.938125 Centerline is valid? [False, False] Translation: X:1.14, Y:1.03, Z:0.46 [[ 0.7739603 -0.60033042 -0.20146675 1.13508755] [ 0.5934094 0.79864625 -0.10014716 1.02885614] [ 0.22102205 -0.04204234 0.9743622 0.46477533] [ 0. 0. 0. 1. ]] SLAMing on 2.754839173 meters Centerline goodness : 0.940033 Centerline is valid? [False, False] Translation: X:1.10, Y:1.00, Z:0.45 [[ 0.77591363 -0.59630483 -0.20586059 1.10401771] [ 0.58960385 0.80154147 -0.09949155 1.00104249] [ 0.22433309 -0.04417934 0.97351058 0.44897617] [ 0. 0. 0. 1. ]] SLAMing on 2.784839173 meters Centerline goodness : 0.948063 Centerline is valid? [False, False] Translation: X:1.08, Y:0.98, Z:0.44 [[ 0.77174822 -0.59651337 -0.22040072 1.07896236] [ 0.59025199 0.80089829 -0.10081918 0.97865373] [ 0.23665854 -0.05228494 0.97018504 0.43595645] [ 0. 0. 0. 1. ]] SLAMing on 2.814839173 meters Centerline goodness : 0.949956 Centerline is valid? [False, False] Translation: X:1.06, Y:0.97, Z:0.43 [[ 0.77331803 -0.59317864 -0.22387125 1.06471141] [ 0.58606484 0.80349361 -0.10452767 0.97150179] [ 0.2418827 -0.05036994 0.96899723 0.43137471] [ 0. 0. 0. 1. ]] SLAMing on 2.844839173 meters Centerline goodness : 0.949956 Centerline is valid? [False, False] Translation: X:1.03, Y:0.94, Z:0.42 [[ 0.77515758 -0.59098359 -0.22331398 1.0271334 ] [ 0.58360625 0.80520369 -0.10512264 0.94096156] [ 0.24193899 -0.04884082 0.96906145 0.41832479] [ 0. 0. 0. 1. ]] SLAMing on 2.8748391730000002 meters Centerline goodness : 0.952469 Centerline is valid? [False, True] Translation: X:0.99, Y:0.91, Z:0.40 [[ 0.77740625 -0.58683702 -0.22641077 0.98865591] [ 0.58017822 0.80804313 -0.10227186 0.90970217] [ 0.24296658 -0.05185182 0.96864784 0.40135607] [ 0. 0. 0. 1. ]] SLAMing on 2.904839173 meters Centerline goodness : 0.950800 Centerline is valid? [True, True] Translation: X:0.98, Y:0.95, Z:0.44 [[ 0.77822928 -0.59734492 -0.19374788 0.98321852] [ 0.57918704 0.80198297 -0.14617006 0.94959936] [ 0.24269645 0.00153756 0.97010106 0.4355561 ] [ 0. 0. 0. 1. ]] SLAMing on 2.934839173 meters Centerline goodness : 0.951621 Centerline is valid? [True, True] Translation: X:1.01, Y:0.97, Z:0.43 [[ 0.78025241 -0.59470648 -0.19372758 1.00824879] [ 0.5764616 0.80393935 -0.14619696 0.96823016] [ 0.24268951 0.00239402 0.97010106 0.43339156] [ 0. 0. 0. 1. ]] SLAMing on 2.964839173 meters Centerline goodness : 0.945088 Centerline is valid? [True, False] Translation: X:0.98, Y:0.94, Z:0.42 [[ 0.78278571 -0.59052719 -0.19627577 0.97756654] [ 0.5722317 0.80701559 -0.1458654 0.93943495] [ 0.24453509 0.00186613 0.96963865 0.41734053] [ 0. 0. 0. 1. ]] SLAMing on 2.994839173 meters Centerline goodness : 0.938249 Centerline is valid? [False, False] Translation: X:0.94, Y:0.91, Z:0.40 [[ 0.78564797 -0.58534554 -0.20031941 0.93923857] [ 0.56806549 0.81077891 -0.14120611 0.90761684] [ 0.24506912 -0.00285625 0.9695014 0.39992833] [ 0. 0. 0. 1. ]] SLAMing on 3.024839173 meters Centerline goodness : 0.934961 Centerline is valid? [False, False] Translation: X:0.90, Y:0.87, Z:0.38 [[ 0.78779259 -0.58128053 -0.20370512 0.89697549] [ 0.56500147 0.81367026 -0.13679929 0.87323075] [ 0.24526756 -0.00732422 0.96942776 0.38354808] [ 0. 0. 0. 1. ]] SLAMing on 3.054839173 meters Centerline goodness : 0.920952 Centerline is valid? [False, False] Translation: X:0.86, Y:0.85, Z:0.37 [[ 0.79349507 -0.57355435 -0.20347232 0.86327399] [ 0.55389587 0.81914897 -0.14897761 0.84570729] [ 0.2521209 0.00551052 0.96768005 0.37494952] [ 0. 0. 0. 1. ]] SLAMing on 3.084839173 meters Centerline goodness : 0.914222 Centerline is valid? [False, False] Translation: X:0.81, Y:0.81, Z:0.36 [[ 0.79798664 -0.56646841 -0.20574465 0.81390997] [ 0.54593377 0.8240399 -0.15137556 0.80528006] [ 0.25529128 0.00847272 0.96682707 0.35719669] [ 0. 0. 0. 1. ]] SLAMing on 3.114839173 meters Centerline goodness : 0.905784 Centerline is valid? [False, False] Translation: X:0.76, Y:0.76, Z:0.34 [[ 0.80380012 -0.55600282 -0.21158031 0.76378333] [ 0.53527704 0.83114387 -0.15059332 0.76307752] [ 0.25958399 0.00779284 0.96568909 0.33905493] [ 0. 0. 0. 1. ]] SLAMing on 3.1448391730000003 meters Centerline goodness : 0.902870 Centerline is valid? [False, False] Translation: X:0.72, Y:0.73, Z:0.32 [[ 0.8060195 -0.55120801 -0.21564391 0.7231473 ] [ 0.53117322 0.8343573 -0.14731906 0.72998299] [ 0.26112752 0.00419776 0.96529519 0.32343953] [ 0. 0. 0. 1. ]] SLAMing on 3.174839173 meters Centerline goodness : 0.902342 Centerline is valid? [False, False] Translation: X:0.68, Y:0.70, Z:0.31 [[ 8.07833023e-01 -5.47500401e-01 -2.18286781e-01 6.76127687e-01] [ 5.28364655e-01 8.36805221e-01 -1.43484539e-01 6.95929358e-01] [ 2.61221361e-01 5.76529586e-04 9.65278752e-01 3.09661839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204839173 meters Centerline goodness : 0.898467 Centerline is valid? [False, False] Translation: X:0.64, Y:0.67, Z:0.30 [[ 0.80791204 -0.54489586 -0.22442511 0.64047775] [ 0.52929823 0.83839289 -0.1301566 0.66508088] [ 0.25907821 -0.01363273 0.96576013 0.29502389] [ 0. 0. 0. 1. ]] SLAMing on 3.234839173 meters Centerline goodness : 0.896851 Centerline is valid? [False, False] Translation: X:0.60, Y:0.63, Z:0.28 [[ 0.80418943 -0.55135971 -0.22199509 0.6029801 ] [ 0.53776896 0.83402299 -0.12332959 0.62835005] [ 0.25314798 -0.02020172 0.96721662 0.28393628] [ 0. 0. 0. 1. ]] SLAMing on 3.264839173 meters Centerline goodness : 0.894145 Centerline is valid? [False, False] Translation: X:0.56, Y:0.59, Z:0.27 [[ 0.80276066 -0.55487837 -0.21836968 0.55800374] [ 0.54133137 0.83171036 -0.12336218 0.58848089] [ 0.25007133 -0.01918005 0.96803743 0.27056053] [ 0. 0. 0. 1. ]] SLAMing on 3.294839173 meters Centerline goodness : 0.888659 Centerline is valid? [False, False] Translation: X:0.51, Y:0.55, Z:0.26 [[ 0.8016193 -0.55784023 -0.21499017 0.51197486] [ 0.54444498 0.82974173 -0.12291594 0.54920481] [ 0.24695377 -0.01851853 0.9688503 0.25743271] [ 0. 0. 0. 1. ]] SLAMing on 3.324839173 meters Centerline goodness : 0.884115 Centerline is valid? [False, False] Translation: X:0.47, Y:0.51, Z:0.25 [[ 0.79627078 -0.56544435 -0.21500125 0.47434474] [ 0.55381372 0.82437946 -0.11699944 0.51229516] [ 0.24339928 -0.02590741 0.96958011 0.24695135] [ 0. 0. 0. 1. ]] SLAMing on 3.3548391730000002 meters Centerline goodness : 0.876928 Centerline is valid? [False, False] Translation: X:0.44, Y:0.48, Z:0.23 [[ 0.79200396 -0.57126791 -0.21536642 0.43950064] [ 0.56152082 0.82007695 -0.11030936 0.47964476] [ 0.23963324 -0.03356728 0.97028303 0.23390405] [ 0. 0. 0. 1. ]] SLAMing on 3.384839173 meters Centerline goodness : 0.865322 Centerline is valid? [False, False] Translation: X:0.41, Y:0.45, Z:0.22 [[ 0.79032104 -0.57350575 -0.21560105 0.40745016] [ 0.56543079 0.81823237 -0.10384513 0.45248731] [ 0.23596753 -0.03983648 0.97094407 0.22161943] [ 0. 0. 0. 1. ]] SLAMing on 3.414839173 meters Centerline goodness : 0.860399 Centerline is valid? [False, False] Translation: X:0.37, Y:0.42, Z:0.21 [[ 0.79053276 -0.57352712 -0.21476638 0.3725852 ] [ 0.56785016 0.81778469 -0.09367178 0.42314891] [ 0.22935596 -0.04790452 0.97216305 0.20920068] [ 0. 0. 0. 1. ]] SLAMing on 3.444839173 meters Centerline goodness : 0.851575 Centerline is valid? [False, False] Translation: X:0.31, Y:0.38, Z:0.20 [[ 0.79206599 -0.57320379 -0.20992587 0.31461421] [ 0.56948622 0.81769652 -0.08401098 0.37900753] [ 0.21981107 -0.05300765 0.97410127 0.19579252] [ 0. 0. 0. 1. ]] SLAMing on 3.474839173 meters Centerline goodness : 0.850805 Centerline is valid? [False, False] Translation: X:0.27, Y:0.35, Z:0.18 [[ 0.79328464 -0.57201693 -0.2085572 0.27368134] [ 0.56802757 0.8186382 -0.08471232 0.34832257] [ 0.21918977 -0.05126526 0.9743345 0.18447453] [ 0. 0. 0. 1. ]] SLAMing on 3.504839173 meters Centerline goodness : 0.852231 Centerline is valid? [False, False] Translation: X:0.23, Y:0.32, Z:0.17 [[ 0.79378306 -0.56994272 -0.21230578 0.23164685] [ 0.56617345 0.81995792 -0.08436021 0.31892926] [ 0.22216229 -0.05323819 0.97355514 0.17133301] [ 0. 0. 0. 1. ]] SLAMing on 3.534839173 meters Centerline goodness : 0.849343 Centerline is valid? [False, False] Translation: X:0.18, Y:0.29, Z:0.16 [[ 0.79510923 -0.56783965 -0.21297758 0.18442635] [ 0.5648964 0.82121647 -0.08059501 0.2859171 ] [ 0.22066574 -0.05622843 0.97372737 0.15665403] [ 0. 0. 0. 1. ]] SLAMing on 3.564839173 meters Centerline goodness : 0.841379 Centerline is valid? [False, False] Translation: X:0.14, Y:0.25, Z:0.14 [[ 0.79617994 -0.56755222 -0.20971881 0.14024138] [ 0.56462229 0.82149806 -0.07964048 0.25131271] [ 0.21748373 -0.05500376 0.97451291 0.14375015] [ 0. 0. 0. 1. ]] SLAMing on 3.594839173 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:0.13 [[ 0.79763142 -0.56618445 -0.20789248 0.09772844] [ 0.5633321 0.82248138 -0.07862135 0.21796134] [ 0.21550188 -0.05440165 0.97498687 0.13122084] [ 0. 0. 0. 1. ]] SLAMing on 3.624839173 meters Centerline goodness : 0.837748 Centerline is valid? [False, False] Translation: X:0.06, Y:0.19, Z:0.12 [[ 0.79886628 -0.56463863 -0.20735447 0.05623507] [ 0.56190631 0.82354173 -0.07771943 0.18581507] [ 0.21464846 -0.05442635 0.97517373 0.11867897] [ 0. 0. 0. 1. ]] SLAMing on 3.654839173 meters Centerline goodness : 0.836700 Centerline is valid? [False, False] Translation: X:0.00, Y:0.14, Z:0.10 [[ 0.7997176 -0.56210539 -0.21092486 0.00293795] [ 0.55956398 0.82516116 -0.07744167 0.13993051] [ 0.21757738 -0.05609449 0.97442983 0.09853373] [ 0. 0. 0. 1. ]] SLAMing on 3.684839173 meters Centerline goodness : 0.837441 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:0.08 [[ 0.80075713 -0.56040406 -0.21150723 -0.03260689] [ 0.55786973 0.82631873 -0.07732222 0.10962294] [ 0.21810408 -0.05607716 0.97431307 0.08435246] [ 0. 0. 0. 1. ]] SLAMing on 3.714839173 meters Centerline goodness : 0.830654 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.06, Z:0.06 [[ 0.80195109 -0.56012021 -0.20770121 -0.09195189] [ 0.55786283 0.82653599 -0.07501549 0.05796576] [ 0.21369021 -0.05571003 0.97531169 0.06471709] [ 0. 0. 0. 1. ]] SLAMing on 3.744839173 meters Centerline goodness : 0.826446 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:0.05 [[ 0.80260295 -0.56022466 -0.20488249 -0.12825681] [ 0.55795207 0.82653631 -0.07434526 0.01950818] [ 0.21099286 -0.05464488 0.97595899 0.05354364] [ 0. 0. 0. 1. ]] SLAMing on 3.774839173 meters Centerline goodness : 0.826079 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.04 [[ 0.80283774 -0.56041434 -0.20343876 -0.16557032] [ 0.55801386 0.82647326 -0.07458204 -0.01475478] [ 0.20993354 -0.05364437 0.9762429 0.04094805] [ 0. 0. 0. 1. ]] SLAMing on 3.804839173 meters Centerline goodness : 0.826305 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.03 [[ 0.80297307 -0.56053424 -0.20257249 -0.20227759] [ 0.55795322 0.82645703 -0.07521286 -0.04762893] [ 0.20957684 -0.05263207 0.97637463 0.0285833 ] [ 0. 0. 0. 1. ]] SLAMing on 3.834839173 meters Centerline goodness : 0.824800 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.01 [[ 0.8010123 -0.56355593 -0.20195048 -0.24112307] [ 0.5614632 0.82425999 -0.07317477 -0.08715814] [ 0.20769778 -0.05477388 0.97665831 0.01468776] [ 0. 0. 0. 1. ]] SLAMing on 3.864839173 meters Centerline goodness : 0.827968 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.00 [[ 8.00994226e-01 -5.63911009e-01 -2.01028916e-01 -2.82367350e-01] [ 5.62179563e-01 8.23939202e-01 -7.12624000e-02 -1.21028280e-01] [ 2.05821256e-01 -5.59335770e-02 9.76989788e-01 1.88407376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.894839173 meters Centerline goodness : 0.829121 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:-0.01 [[ 0.80232771 -0.5616897 -0.20192802 -0.31228495] [ 0.56215347 0.824804 -0.06067806 -0.14970404] [ 0.20063328 -0.06483085 0.97751893 -0.00882949] [ 0. 0. 0. 1. ]] SLAMing on 3.924839173 meters Centerline goodness : 0.828312 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:-0.01 [[ 0.80279991 -0.56260528 -0.19745279 -0.31342793] [ 0.56266065 0.82440873 -0.06134522 -0.16137444] [ 0.19729495 -0.06185098 0.97839111 -0.00879273] [ 0. 0. 0. 1. ]] SLAMing on 3.954839173 meters Centerline goodness : 0.828129 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:-0.00 [[ 0.80463169 -0.55572019 -0.20914808 -0.31210481] [ 0.55567131 0.82888596 -0.06463325 -0.17074932] [ 0.20927791 -0.06421163 0.97574568 -0.00179215] [ 0. 0. 0. 1. ]] SLAMing on 3.984839173 meters Centerline goodness : 0.830960 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:0.01 [[ 0.80710027 -0.54624567 -0.22406434 -0.31012336] [ 0.54682237 0.83470459 -0.06521915 -0.17780245] [ 0.22265321 -0.069885 0.97238965 0.00536748] [ 0. 0. 0. 1. ]] SLAMing on 4.0148391729999995 meters Centerline goodness : 0.829604 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:0.01 [[ 0.80959503 -0.53722031 -0.23653801 -0.30858882] [ 0.53836049 0.84016344 -0.06552386 -0.1851109 ] [ 0.23393134 -0.07429493 0.96941033 0.00768602] [ 0. 0. 0. 1. ]] SLAMing on 4.044839173 meters Centerline goodness : 0.826739 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:0.00 [[ 0.81275823 -0.53489613 -0.23088998 -0.31073008] [ 0.53514376 0.84209291 -0.06708714 -0.19243023] [ 0.23031546 -0.06903371 0.97066428 0.00280424] [ 0. 0. 0. 1. ]] SLAMing on 4.074839173 meters Centerline goodness : 0.829092 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:0.00 [[ 0.81480931 -0.53207099 -0.23018744 -0.31396802] [ 0.53253583 0.84386757 -0.06552181 -0.1962067 ] [ 0.22910997 -0.06919528 0.97093802 0.00385784] [ 0. 0. 0. 1. ]] SLAMing on 4.104839173 meters Centerline goodness : 0.828764 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:0.01 [[ 0.81729056 -0.52040359 -0.24741917 -0.31191221] [ 0.52277192 0.85025105 -0.06150348 -0.20279089] [ 0.24237504 -0.07907758 0.96695454 0.01074925] [ 0. 0. 0. 1. ]] SLAMing on 4.134839173 meters Centerline goodness : 0.827940 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:0.02 [[ 0.81759854 -0.51252701 -0.26239034 -0.31081218] [ 0.51555098 0.85455682 -0.06276804 -0.20653211] [ 0.25639777 -0.08395654 0.96291821 0.01872256] [ 0. 0. 0. 1. ]] SLAMing on 4.164839173 meters Centerline goodness : 0.826797 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:0.02 [[ 0.81650403 -0.50791443 -0.27448881 -0.30558726] [ 0.51034732 0.85726136 -0.06818046 -0.21061861] [ 0.26993849 -0.08441501 0.95917012 0.02169778] [ 0. 0. 0. 1. ]] SLAMing on 4.194839173 meters Centerline goodness : 0.829431 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.81629119 -0.50903183 -0.27304815 -0.30494188] [ 0.51128406 0.85667352 -0.06854985 -0.21697467] [ 0.26880718 -0.08364852 0.95955491 0.02230619] [ 0. 0. 0. 1. ]] SLAMing on 4.224839173 meters Centerline goodness : 0.829798 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.81984875 -0.50059144 -0.27795006 -0.30441157] [ 0.5052013 0.8608909 -0.06032005 -0.22044521] [ 0.26948037 -0.09096741 0.95869977 0.02428291] [ 0. 0. 0. 1. ]] SLAMing on 4.254839173 meters Centerline goodness : 0.828517 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:0.03 [[ 0.82349673 -0.49188516 -0.28266965 -0.30568579] [ 0.4987329 0.8651611 -0.05255249 -0.22133737] [ 0.27040458 -0.09769985 0.95777665 0.02650383] [ 0. 0. 0. 1. ]] SLAMing on 4.284839173 meters Centerline goodness : 0.822573 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:0.02 [[ 0.82568615 -0.48749597 -0.28388387 -0.30614747] [ 0.49476909 0.86754288 -0.05072381 -0.21729125] [ 0.27100908 -0.09857502 0.95751608 0.0245585 ] [ 0. 0. 0. 1. ]] SLAMing on 4.314839173 meters Centerline goodness : 0.822571 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.82252564 -0.49555183 -0.27906979 -0.3006822 ] [ 0.50038558 0.86378839 -0.05902446 -0.21433295] [ 0.27030693 -0.09109336 0.95845509 0.01818206] [ 0. 0. 0. 1. ]] SLAMing on 4.344839173 meters Centerline goodness : 0.823791 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.8208664 -0.4990533 -0.27771235 -0.29973313] [ 0.50317883 0.86197805 -0.06168396 -0.21450153] [ 0.27016553 -0.08910469 0.95868188 0.01799291] [ 0. 0. 0. 1. ]] SLAMing on 4.374839173 meters Centerline goodness : 0.821731 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.82025366 -0.49972378 -0.27831649 -0.29844699] [ 0.50405079 0.86149593 -0.06129892 -0.21513123] [ 0.27040105 -0.09000498 0.95853136 0.01848024] [ 0. 0. 0. 1. ]] SLAMing on 4.404839173 meters Centerline goodness : 0.822854 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.81965868 -0.50007596 -0.27943459 -0.29660232] [ 0.50462301 0.86118383 -0.06097561 -0.21431457] [ 0.27113698 -0.09102993 0.95822664 0.01878413] [ 0. 0. 0. 1. ]] SLAMing on 4.434839173 meters Centerline goodness : 0.821609 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81648294 -0.50598638 -0.27808882 -0.29460336] [ 0.5094684 0.85800592 -0.06532825 -0.21103952] [ 0.27165706 -0.08833807 0.95833127 0.01825275] [ 0. 0. 0. 1. ]] SLAMing on 4.464839173 meters Centerline goodness : 0.821590 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.8147429 -0.5080795 -0.27937293 -0.29007487] [ 0.51177413 0.8566273 -0.06539803 -0.21040964] [ 0.27254588 -0.08969325 0.95795296 0.01788484] [ 0. 0. 0. 1. ]] SLAMing on 4.494839173 meters Centerline goodness : 0.820640 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.8140808 -0.50841721 -0.28068558 -0.28824589] [ 0.51249021 0.85626052 -0.0645888 -0.21103615] [ 0.27317804 -0.09126811 0.95762409 0.01903283] [ 0. 0. 0. 1. ]] SLAMing on 4.524839173 meters Centerline goodness : 0.823384 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81586319 -0.50436018 -0.28282162 -0.28703896] [ 0.50947481 0.85832317 -0.06096521 -0.2117597 ] [ 0.27350077 -0.09435122 0.95723308 0.01865733] [ 0. 0. 0. 1. ]] SLAMing on 4.554839173 meters Centerline goodness : 0.820780 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81683935 -0.50327804 -0.2819303 -0.28774603] [ 0.50814872 0.85908498 -0.06130148 -0.21089057] [ 0.27305377 -0.09318906 0.95747451 0.01685521] [ 0. 0. 0. 1. ]] SLAMing on 4.584839173 meters Centerline goodness : 0.820516 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.01 [[ 0.81897268 -0.5006005 -0.28050469 -0.28762951] [ 0.50540919 0.86075442 -0.06052581 -0.21366898] [ 0.2717449 -0.09220066 0.95794245 0.01388394] [ 0. 0. 0. 1. ]] SLAMing on 4.614839173 meters Centerline goodness : 0.823375 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:0.01 [[ 0.81803935 -0.50325831 -0.2784649 -0.28583669] [ 0.5077894 0.85930047 -0.06125866 -0.22082443] [ 0.27011395 -0.09128953 0.95849083 0.01348063] [ 0. 0. 0. 1. ]] SLAMing on 4.644839173 meters Centerline goodness : 0.822071 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.01 [[ 0.81763367 -0.50335434 -0.27948093 -0.28278049] [ 0.5083668 0.85905255 -0.05993262 -0.2230883 ] [ 0.27025615 -0.0930759 0.95827892 0.01343923] [ 0. 0. 0. 1. ]] SLAMing on 4.674839173 meters Centerline goodness : 0.822937 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.01 [[ 0.81582962 -0.50701575 -0.27813137 -0.27965633] [ 0.51127582 0.85712092 -0.06277555 -0.22286568] [ 0.27022041 -0.09098769 0.95848953 0.01178958] [ 0. 0. 0. 1. ]] SLAMing on 4.704839173 meters Centerline goodness : 0.825782 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.23, Z:0.01 [[ 0.81494688 -0.51117585 -0.27305828 -0.27876467] [ 0.51398944 0.85518185 -0.06692426 -0.22974614] [ 0.26772455 -0.08580936 0.95966677 0.00902366] [ 0. 0. 0. 1. ]] SLAMing on 4.734839173 meters Centerline goodness : 0.828245 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.23, Z:0.01 [[ 0.81539036 -0.51056916 -0.27286935 -0.27756609] [ 0.51359847 0.85549014 -0.06597897 -0.23227098] [ 0.26712387 -0.08634667 0.95978596 0.0080921 ] [ 0. 0. 0. 1. ]] SLAMing on 4.764839173 meters Centerline goodness : 0.829866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81654196 -0.50890309 -0.27253783 -0.27697401] [ 0.51231663 0.85639449 -0.06418842 -0.23835372] [ 0.26606558 -0.08721312 0.96000155 0.00803792] [ 0. 0. 0. 1. ]] SLAMing on 4.794839173 meters Centerline goodness : 0.829866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81654196 -0.50890309 -0.27253783 -0.27697401] [ 0.51231663 0.85639449 -0.06418842 -0.23835372] [ 0.26606558 -0.08721312 0.96000155 0.00803792] [ 0. 0. 0. 1. ]] SLAMing on 4.824839173 meters Centerline goodness : 0.831393 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81782243 -0.50714305 -0.27197868 -0.27818227] [ 0.51083764 0.85738988 -0.06266976 -0.24331591] [ 0.2649743 -0.08768421 0.96026043 0.00847404] [ 0. 0. 0. 1. ]] SLAMing on 4.854839173 meters Centerline goodness : 0.830866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.25, Z:0.01 [[ 0.81934433 -0.50559302 -0.27027869 -0.27821264] [ 0.50921645 0.85839733 -0.06206959 -0.25106676] [ 0.26338846 -0.08677399 0.96077926 0.00793474] [ 0. 0. 0. 1. ]] SLAMing on 4.884839173 meters Centerline goodness : 0.831493 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.25, Z:0.01 [[ 0.81876736 -0.50773736 -0.26799772 -0.27807691] [ 0.51071434 0.85736307 -0.06402678 -0.25456441] [ 0.26228013 -0.08444724 0.96128965 0.00719005] [ 0. 0. 0. 1. ]] SLAMing on 4.914839173 meters Centerline goodness : 0.829438 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.27, Z:0.01 [[ 0.81842187 -0.51252398 -0.25981689 -0.2846229 ] [ 0.51348572 0.85526665 -0.06965183 -0.26614403] [ 0.25791095 -0.07640768 0.96314267 0.00810829] [ 0. 0. 0. 1. ]] SLAMing on 4.944839173 meters Centerline goodness : 0.829026 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.27, Z:0.01 [[ 0.81881801 -0.51175256 -0.2600892 -0.28475395] [ 0.51298398 0.85565271 -0.06859932 -0.26817658] [ 0.2576519 -0.07725123 0.96314472 0.00872073] [ 0. 0. 0. 1. ]] SLAMing on 4.974839173 meters Centerline goodness : 0.820606 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.27, Z:0.01 [[ 0.81905052 -0.51903973 -0.24444633 -0.28637642] [ 0.51990611 0.85164599 -0.06630794 -0.27267959] [ 0.24259819 -0.07277959 0.96739302 0.00525937] [ 0. 0. 0. 1. ]] SLAMing on 5.004839173 meters Centerline goodness : 0.818737 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.28, Z:0.00 [[ 0.81826031 -0.52174392 -0.24131588 -0.28380888] [ 0.52176539 0.85028111 -0.06915869 -0.27723697] [ 0.24126946 -0.06932047 0.96797919 0.00239321] [ 0. 0. 0. 1. ]] SLAMing on 5.034839173 meters Centerline goodness : 0.817883 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.28, Z:0.00 [[ 0.81699274 -0.52377365 -0.24121366 -0.27749216] [ 0.52382204 0.84900093 -0.069339 -0.28289089] [ 0.24110857 -0.06970357 0.96799177 0.0011418 ] [ 0. 0. 0. 1. ]] SLAMing on 5.064839173 meters Centerline goodness : 0.817654 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.29, Z:0.00 [[ 0.81779577 -0.52211811 -0.24208006 -0.27607486] [ 0.52268163 0.84986955 -0.06727302 -0.2864536 ] [ 0.24086093 -0.07151521 0.96792127 0.00147669] [ 0. 0. 0. 1. ]] SLAMing on 5.0948391729999996 meters Centerline goodness : 0.819420 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.29, Z:0.00 [[ 0.81865758 -0.52024192 -0.24320385 -0.27462663] [ 0.52144491 0.85082404 -0.06475843 -0.29053262] [ 0.24061374 -0.07380243 0.96781105 0.00219341] [ 0. 0. 0. 1. ]] SLAMing on 5.124839173 meters Centerline goodness : 0.817780 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.29, Z:0.00 [[ 0.81753118 -0.5209655 -0.24543371 -0.27037162] [ 0.52286386 0.85009924 -0.06280662 -0.29249654] [ 0.24136309 -0.07698205 0.96737667 0.00351551] [ 0. 0. 0. 1. ]] SLAMing on 5.154839173 meters Centerline goodness : 0.814023 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.30, Z:-0.00 [[ 0.81401902 -0.52695277 -0.24432317 -0.25627599] [ 0.52789741 0.84664401 -0.06721783 -0.29796177] [ 0.24227537 -0.07426098 0.96736134 -0.00238909] [ 0. 0. 0. 1. ]] SLAMing on 5.184839173 meters Centerline goodness : 0.814923 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.00 [[ 0.81318443 -0.52881245 -0.2430812 -0.25239374] [ 0.5294711 0.84557688 -0.06826493 -0.30292566] [ 0.24164318 -0.07319249 0.96760086 -0.00384434] [ 0. 0. 0. 1. ]] SLAMing on 5.214839173 meters Centerline goodness : 0.813875 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:-0.01 [[ 0.81260256 -0.52899656 -0.24462159 -0.24580185] [ 0.53020269 0.84525142 -0.06659686 -0.30646468] [ 0.24199626 -0.07558225 0.96732887 -0.00507678] [ 0. 0. 0. 1. ]] SLAMing on 5.244839173 meters Centerline goodness : 0.814392 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.31, Z:-0.00 [[ 0.81427195 -0.52500394 -0.24765307 -0.24279885] [ 0.52747498 0.84731136 -0.06191615 -0.30944379] [ 0.24234548 -0.08021421 0.96686832 -0.00471682] [ 0. 0. 0. 1. ]] SLAMing on 5.274839173 meters Centerline goodness : 0.814854 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.31, Z:-0.00 [[ 0.81710211 -0.51936956 -0.25019874 -0.24184612] [ 0.52313839 0.85035787 -0.05672496 -0.31318104] [ 0.24221969 -0.08453848 0.96653136 -0.00445702] [ 0. 0. 0. 1. ]] SLAMing on 5.3048391729999995 meters Centerline goodness : 0.813357 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:-0.01 [[ 0.82024274 -0.51451396 -0.24995444 -0.24005248] [ 0.51892398 0.85315818 -0.05328238 -0.32247369] [ 0.2406652 -0.08600287 0.96679045 -0.0062134 ] [ 0. 0. 0. 1. ]] SLAMing on 5.334839173 meters Centerline goodness : 0.812839 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.33, Z:-0.01 [[ 0.82093842 -0.51315504 -0.25046362 -0.23500839] [ 0.51791632 0.85385893 -0.05184229 -0.32623829] [ 0.24046373 -0.08715987 0.96673696 -0.0087206 ] [ 0. 0. 0. 1. ]] SLAMing on 5.364839173 meters Centerline goodness : 0.810474 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.33, Z:-0.01 [[ 0.82062969 -0.51415341 -0.2494257 -0.22875545] [ 0.51858816 0.8533844 -0.05292823 -0.33029914] [ 0.24006923 -0.08591473 0.96694644 -0.01234587] [ 0. 0. 0. 1. ]] SLAMing on 5.394839173 meters Centerline goodness : 0.808021 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.01 [[ 0.82205505 -0.51123636 -0.25072471 -0.22583458] [ 0.51657369 0.85482156 -0.04931245 -0.33771877] [ 0.23953521 -0.08898024 0.96680164 -0.01181367] [ 0. 0. 0. 1. ]] SLAMing on 5.424839173 meters Centerline goodness : 0.808198 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.01 [[ 0.82304996 -0.50947631 -0.25104315 -0.22154048] [ 0.51518323 0.8557539 -0.04766033 -0.34229217] [ 0.23911296 -0.09010639 0.96680186 -0.01401688] [ 0. 0. 0. 1. ]] SLAMing on 5.454839173 meters Centerline goodness : 0.809083 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.01 [[ 0.82361843 -0.50827551 -0.25161217 -0.21926376] [ 0.51427678 0.85636266 -0.04650147 -0.34442481] [ 0.23910683 -0.09109883 0.96671036 -0.01478661] [ 0. 0. 0. 1. ]] SLAMing on 5.484839173 meters Centerline goodness : 0.806950 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:-0.02 [[ 0.82309581 -0.508265 -0.2533377 -0.21326953] [ 0.51472304 0.85615646 -0.04534651 -0.34551165] [ 0.23994475 -0.09307422 0.9663145 -0.01605769] [ 0. 0. 0. 1. ]] SLAMing on 5.514839173 meters Centerline goodness : 0.804936 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:-0.02 [[ 0.82238557 -0.510051 -0.25205151 -0.20857406] [ 0.51625456 0.85519116 -0.04614456 -0.35155366] [ 0.23908829 -0.09217412 0.96661301 -0.01785587] [ 0. 0. 0. 1. ]] SLAMing on 5.544839173 meters Centerline goodness : 0.805164 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:-0.02 [[ 0.82202022 -0.50988861 -0.25356729 -0.20426548] [ 0.51664737 0.85504157 -0.04449066 -0.35490546] [ 0.23949585 -0.09443265 0.96629406 -0.01743138] [ 0. 0. 0. 1. ]] SLAMing on 5.574839173 meters Centerline goodness : 0.802752 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.02 [[ 0.81926963 -0.51424927 -0.25366307 -0.19846352] [ 0.52073823 0.85245857 -0.04632595 -0.35692497] [ 0.24006034 -0.09413861 0.96618267 -0.01737662] [ 0. 0. 0. 1. ]] SLAMing on 5.604839173 meters Centerline goodness : 0.804136 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.01 [[ 0.81933777 -0.50699944 -0.26765125 -0.19905283] [ 0.51454119 0.85619171 -0.04672381 -0.36104735] [ 0.25284973 -0.09943501 0.9623823 -0.01369292] [ 0. 0. 0. 1. ]] SLAMing on 5.634839173 meters Centerline goodness : 0.803585 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.01 [[ 0.82075603 -0.50340322 -0.27008285 -0.19846371] [ 0.51182693 0.85797288 -0.04376905 -0.35896976] [ 0.25375724 -0.10231197 0.96184174 -0.01363032] [ 0. 0. 0. 1. ]] SLAMing on 5.664839173 meters Centerline goodness : 0.801724 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.02 [[ 0.82317814 -0.50082532 -0.26749158 -0.19760823] [ 0.50873679 0.85978695 -0.04419602 -0.36283753] [ 0.25212026 -0.09970161 0.96254608 -0.01865524] [ 0. 0. 0. 1. ]] SLAMing on 5.694839173 meters Centerline goodness : 0.804776 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.02 [[ 0.82447852 -0.49890059 -0.26708308 -0.19697332] [ 0.50706004 0.8608498 -0.04275209 -0.36715733] [ 0.25124746 -0.10017897 0.96272472 -0.01965954] [ 0. 0. 0. 1. ]] SLAMing on 5.724839173 meters Centerline goodness : 0.802728 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.37, Z:-0.02 [[ 0.82447242 -0.49857643 -0.26770649 -0.19498041] [ 0.50699757 0.86092578 -0.04195561 -0.36866449] [ 0.2513935 -0.1011353 0.9625866 -0.01975662] [ 0. 0. 0. 1. ]] SLAMing on 5.754839173 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.02 [[ 0.82811684 -0.49027684 -0.27175561 -0.1953999 ] [ 0.50088159 0.86484955 -0.03395412 -0.3735528 ] [ 0.25167464 -0.1079994 0.96176713 -0.01741529] [ 0. 0. 0. 1. ]] SLAMing on 5.784839173 meters Centerline goodness : 0.804152 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.37, Z:-0.02 [[ 0.82981635 -0.48575048 -0.27468399 -0.19413376] [ 0.49769362 0.86685391 -0.02941707 -0.37467735] [ 0.25240025 -0.1122977 0.96108446 -0.01639309] [ 0. 0. 0. 1. ]] SLAMing on 5.814839173 meters Centerline goodness : 0.801054 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.38, Z:-0.02 [[ 0.82866599 -0.48811272 -0.27396832 -0.18722901] [ 0.49970778 0.86564581 -0.03081338 -0.37933597] [ 0.25219993 -0.1113701 0.96124497 -0.01878429] [ 0. 0. 0. 1. ]] SLAMing on 5.8448391729999996 meters Centerline goodness : 0.801649 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.38, Z:-0.02 [[ 0.82745398 -0.4888789 -0.27625592 -0.18077548] [ 0.50118735 0.86484267 -0.0292984 -0.38186042] [ 0.25324128 -0.11421289 0.96063743 -0.01812734] [ 0. 0. 0. 1. ]] SLAMing on 5.874839173 meters Centerline goodness : 0.800178 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.39, Z:-0.02 [[ 0.82167755 -0.49721833 -0.27860355 -0.1678606 ] [ 0.50964894 0.85980956 -0.0313922 -0.38882315] [ 0.25515478 -0.11619574 0.95989301 -0.01636905] [ 0. 0. 0. 1. ]] SLAMing on 5.904839173 meters Centerline goodness : 0.800390 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.39, Z:-0.02 [[ 0.82127477 -0.49698027 -0.28021128 -0.16267308] [ 0.50996291 0.85967139 -0.03004893 -0.39106183] [ 0.25582335 -0.11821894 0.95946793 -0.01654104] [ 0. 0. 0. 1. ]] SLAMing on 5.934839173 meters Centerline goodness : 0.800265 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.39, Z:-0.01 [[ 0.82138068 -0.49611965 -0.2814233 -0.16194884] [ 0.5097372 0.85987085 -0.02810904 -0.39414792] [ 0.25593313 -0.1203637 0.95917194 -0.01445617] [ 0. 0. 0. 1. ]] SLAMing on 5.964839173 meters Centerline goodness : 0.800782 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.02 [[ 0.82152243 -0.49552083 -0.28206381 -0.15909963] [ 0.5094083 0.8600915 -0.02730912 -0.39589959] [ 0.25613292 -0.1212506 0.95900689 -0.01502342] [ 0. 0. 0. 1. ]] SLAMing on 5.994839173 meters Centerline goodness : 0.798090 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.01 [[ 0.82123552 -0.48912281 -0.29382155 -0.15910867] [ 0.50343679 0.86349893 -0.03034786 -0.40020954] [ 0.26855842 -0.12299784 0.95537841 -0.01361052] [ 0. 0. 0. 1. ]] SLAMing on 6.024839173 meters Centerline goodness : 0.798288 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.01 [[ 0.82325604 -0.48466734 -0.29554537 -0.1573484 ] [ 0.49993975 0.86564032 -0.02696432 -0.40117119] [ 0.26890472 -0.12555634 0.95494809 -0.01489055] [ 0. 0. 0. 1. ]] SLAMing on 6.0548391729999995 meters Centerline goodness : 0.796941 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.02 [[ 0.82467 -0.48288464 -0.29451962 -0.15711164] [ 0.49803002 0.86675207 -0.02658853 -0.40320225] [ 0.26811468 -0.12475285 0.95527548 -0.01729447] [ 0. 0. 0. 1. ]] SLAMing on 6.084839173 meters Centerline goodness : 0.800894 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.41, Z:-0.02 [[ 0.82856348 -0.47366167 -0.29854176 -0.15650842] [ 0.49117609 0.87086374 -0.01850397 -0.40664688] [ 0.26875381 -0.13130486 0.95421718 -0.01644149] [ 0. 0. 0. 1. ]] SLAMing on 6.114839173 meters Centerline goodness : 0.800768 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.02 [[ 0.83000589 -0.46924654 -0.3014928 -0.15475889] [ 0.48821543 0.87260944 -0.01408751 -0.4078232 ] [ 0.26969598 -0.13550072 0.95336438 -0.01528828] [ 0. 0. 0. 1. ]] SLAMing on 6.144839173 meters Centerline goodness : 0.800759 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.01 [[ 0.83015426 -0.46846989 -0.30229103 -0.15385342] [ 0.48786308 0.87282527 -0.01287087 -0.40974242] [ 0.26987687 -0.13679183 0.95312878 -0.01424976] [ 0. 0. 0. 1. ]] SLAMing on 6.174839173 meters Centerline goodness : 0.799475 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.01 [[ 0.82983158 -0.46810874 -0.30373302 -0.14959827] [ 0.48806759 0.87272898 -0.01158308 -0.41209488] [ 0.27049875 -0.13863024 0.95268677 -0.01390402] [ 0. 0. 0. 1. ]] SLAMing on 6.204839173 meters Centerline goodness : 0.799826 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.42, Z:-0.01 [[ 0.82860969 -0.46824543 -0.30684231 -0.14127894] [ 0.48938147 0.8720216 -0.0091705 -0.41690813] [ 0.27186717 -0.14256418 0.95171619 -0.01257187] [ 0. 0. 0. 1. ]] SLAMing on 6.234839173 meters Centerline goodness : 0.799113 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82550732 -0.47272068 -0.30833882 -0.13291925] [ 0.4940734 0.86936191 -0.01006732 -0.421671 ] [ 0.27281706 -0.14403136 0.95122333 -0.01095787] [ 0. 0. 0. 1. ]] SLAMing on 6.264839173 meters Centerline goodness : 0.797720 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82546941 -0.47210282 -0.30938517 -0.12864318] [ 0.49395292 0.86944407 -0.00880446 -0.42439005] [ 0.27314971 -0.14555389 0.95089605 -0.01138147] [ 0. 0. 0. 1. ]] SLAMing on 6.294839173 meters Centerline goodness : 0.798562 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82733121 -0.46743547 -0.31149183 -0.12691542] [ 0.49044663 0.87145632 -0.00509739 -0.42493115] [ 0.27383422 -0.14855289 0.95023516 -0.01205105] [ 0. 0. 0. 1. ]] SLAMing on 6.324839173 meters Centerline goodness : 0.798286 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.43, Z:-0.01 [[ 0.83005865 -0.46202913 -0.3123007 -0.12813855] [ 0.48587999 0.87402397 -0.00165112 -0.42573218] [ 0.27372116 -0.15037014 0.94998187 -0.01342335] [ 0. 0. 0. 1. ]] SLAMing on 6.354839173 meters Centerline goodness : 0.799427 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.43, Z:-0.01 [[ 0.83006446 -0.46173495 -0.31272004 -0.12614451] [ 0.48575852 0.87409217 -0.00124078 -0.42696534] [ 0.27391905 -0.1508765 0.94984453 -0.01368203] [ 0. 0. 0. 1. ]] SLAMing on 6.384839173 meters Centerline goodness : 0.800037 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 8.29542053e-01 -4.61633784e-01 -3.14251860e-01 -1.23905694e-01] [ 4.86299103e-01 8.73792407e-01 1.06479549e-04 -4.29109553e-01] [ 2.74541734e-01 -1.52908727e-01 9.49339643e-01 -1.16805719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414839173 meters Centerline goodness : 0.799024 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83022931 -0.45808164 -0.31761692 -0.12005562] [ 0.48418419 0.87495819 0.00372029 -0.42824247] [ 0.27619733 -0.15687378 0.94821182 -0.01116926] [ 0. 0. 0. 1. ]] SLAMing on 6.444839173 meters Centerline goodness : 0.798235 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83181857 -0.45362247 -0.31985078 -0.11841916] [ 0.48100011 0.8766879 0.00756446 -0.42890425] [ 0.27697789 -0.16014052 0.94743773 -0.01121661] [ 0. 0. 0. 1. ]] SLAMing on 6.474839173 meters Centerline goodness : 0.797638 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83249132 -0.45252458 -0.31965559 -0.11674895] [ 0.47996866 0.87724812 0.00811314 -0.43069974] [ 0.27674587 -0.16017878 0.94749907 -0.01270038] [ 0. 0. 0. 1. ]] SLAMing on 6.504839173 meters Centerline goodness : 0.798582 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83313065 -0.45113297 -0.3199568 -0.11517767] [ 0.47901383 0.87775398 0.0096805 -0.43489608] [ 0.27647616 -0.16132885 0.94738268 -0.01252344] [ 0. 0. 0. 1. ]] SLAMing on 6.534839173 meters Centerline goodness : 0.799404 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.83288911 -0.45098084 -0.32079901 -0.11331266] [ 0.47925202 0.87761421 0.01052559 -0.43659198] [ 0.27679093 -0.16251023 0.94708881 -0.0116317 ] [ 0. 0. 0. 1. ]] SLAMing on 6.564839173 meters Centerline goodness : 0.799743 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.8323131 -0.45073684 -0.32263169 -0.11038578] [ 0.47989045 0.87724017 0.01244343 -0.44008727] [ 0.27741677 -0.16518469 0.94644279 -0.00904421] [ 0. 0. 0. 1. ]] SLAMing on 6.5948391729999996 meters Centerline goodness : 0.798529 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.83295694 -0.44750679 -0.32545417 -0.10725143] [ 0.47807799 0.8781703 0.01607356 -0.44108077] [ 0.27861116 -0.16898106 0.94542119 -0.0079982 ] [ 0. 0. 0. 1. ]] SLAMing on 6.624839173 meters Centerline goodness : 0.801052 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.01 [[ 0.83561773 -0.44168631 -0.32658265 -0.1101367 ] [ 0.47374843 0.8803984 0.02147286 -0.4485361 ] [ 0.27803857 -0.17266112 0.9449247 -0.00516499] [ 0. 0. 0. 1. ]] SLAMing on 6.654839173 meters Centerline goodness : 0.801850 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83734546 -0.43652541 -0.32908683 -0.10783743] [ 0.47026499 0.88212897 0.02644452 -0.45302821] [ 0.27875333 -0.17690121 0.94392931 -0.00388484] [ 0. 0. 0. 1. ]] SLAMing on 6.684839173 meters Centerline goodness : 0.801850 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83734546 -0.43652541 -0.32908683 -0.10783743] [ 0.47026499 0.88212897 0.02644452 -0.45302821] [ 0.27875333 -0.17690121 0.94392931 -0.00388484] [ 0. 0. 0. 1. ]] SLAMing on 6.714839173 meters Centerline goodness : 0.802158 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83772776 -0.43579572 -0.32908099 -0.10739718] [ 0.4695996 0.88247271 0.02679823 -0.45347345] [ 0.27872644 -0.17698592 0.94392137 -0.00446157] [ 0. 0. 0. 1. ]] SLAMing on 6.744839173 meters Centerline goodness : 0.802087 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.01 [[ 0.83986958 -0.4307462 -0.33026779 -0.10827725] [ 0.46553078 0.88451531 0.0302286 -0.45296147] [ 0.27910606 -0.1791379 0.94340311 -0.00543027] [ 0. 0. 0. 1. ]] SLAMing on 6.774839173 meters Centerline goodness : 0.802131 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.46, Z:-0.01 [[ 0.8413014 -0.42605957 -0.33269386 -0.104947 ] [ 0.46239519 0.88599684 0.03464532 -0.45564311] [ 0.28000474 -0.18298319 0.94239827 -0.00532502] [ 0. 0. 0. 1. ]] SLAMing on 6.8048391729999995 meters Centerline goodness : 0.803114 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.46, Z:-0.00 [[ 0.84310903 -0.42246649 -0.33269992 -0.10605492] [ 0.45956611 0.88733645 0.03785519 -0.46289169] [ 0.27922421 -0.18481366 0.94227265 -0.00392898] [ 0. 0. 0. 1. ]] SLAMing on 6.834839173 meters Centerline goodness : 0.804210 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.46, Z:-0.01 [[ 0.84603927 -0.41587218 -0.33356841 -0.10733756] [ 0.45408163 0.88996245 0.04215107 -0.46412964] [ 0.2793339 -0.18712875 0.9417831 -0.00531895] [ 0. 0. 0. 1. ]] SLAMing on 6.864839173 meters Centerline goodness : 0.804079 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.848662 -0.40983949 -0.33437166 -0.11038163] [ 0.44909967 0.89228779 0.04617333 -0.46526436] [ 0.27943209 -0.18935175 0.94130952 -0.0051997 ] [ 0. 0. 0. 1. ]] SLAMing on 6.894839173 meters Centerline goodness : 0.805154 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.85022992 -0.40793784 -0.33270978 -0.11291887] [ 0.44670897 0.89349437 0.04603163 -0.4655542 ] [ 0.27849627 -0.18776191 0.94190514 -0.00764032] [ 0. 0. 0. 1. ]] SLAMing on 6.924839173 meters Centerline goodness : 0.803469 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.85419087 -0.40076429 -0.33127926 -0.11302643] [ 0.43972111 0.89680219 0.04889972 -0.46948814] [ 0.2774947 -0.18744018 0.94226475 -0.0129047 ] [ 0. 0. 0. 1. ]] SLAMing on 6.954839173 meters Centerline goodness : 0.802446 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.02 [[ 0.85482018 -0.40033015 -0.33017908 -0.11282228] [ 0.43873424 0.89734082 0.04787187 -0.46790582] [ 0.27711862 -0.18578271 0.94270359 -0.01606326] [ 0. 0. 0. 1. ]] SLAMing on 6.984839173 meters Centerline goodness : 0.799397 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.02 [[ 0.85336842 -0.40423269 -0.32917817 -0.10907438] [ 0.44175217 0.89601291 0.04489861 -0.46687009] [ 0.27679841 -0.18373023 0.94319979 -0.01837359] [ 0. 0. 0. 1. ]] SLAMing on 7.0148391729999995 meters Centerline goodness : 0.801150 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.47, Z:-0.02 [[ 0.8531788 -0.40830371 -0.32461365 -0.09813376] [ 0.44727477 0.89285299 0.05252448 -0.46814803] [ 0.26838632 -0.19000427 0.94438719 -0.01723844] [ 0. 0. 0. 1. ]] SLAMing on 7.044839173 meters Centerline goodness : 0.802496 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.48, Z:-0.01 [[ 0.84676221 -0.41852554 -0.32837499 -0.08604431] [ 0.46083525 0.88547101 0.05976596 -0.47554418] [ 0.26575296 -0.20193433 0.94265471 -0.00589793] [ 0. 0. 0. 1. ]] SLAMing on 7.074839173 meters Centerline goodness : 0.800968 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.48, Z:-0.00 [[ 0.84426185 -0.42297643 -0.3291092 -0.08077563] [ 0.46536239 0.88316983 0.05872728 -0.48128692] [ 0.26581906 -0.20273625 0.94246392 -0.00278013] [ 0. 0. 0. 1. ]] SLAMing on 7.104839173 meters Centerline goodness : 0.799471 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.49, Z:-0.00 [[ 8.37044501e-01 -4.36060266e-01 -3.30466258e-01 -6.61635816e-02] [ 4.77646506e-01 8.76973240e-01 5.26474219e-02 -4.89169747e-01] [ 2.66852617e-01 -2.01914289e-01 9.42348291e-01 -4.20956513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134839173 meters Centerline goodness : 0.798769 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.49, Z:0.00 [[ 0.83533728 -0.43958468 -0.33011655 -0.06260841] [ 0.48090536 0.8752651 0.05139109 -0.49477744] [ 0.26634876 -0.20168371 0.94254019 0.00146238] [ 0. 0. 0. 1. ]] SLAMing on 7.164839173 meters Centerline goodness : 0.799238 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.50, Z:0.00 [[ 0.83209855 -0.44715294 -0.32812536 -0.05902664] [ 0.48738372 0.8718779 0.0478126 -0.50353935] [ 0.26470571 -0.19970775 0.9434234 0.00443292] [ 0. 0. 0. 1. ]] SLAMing on 7.194839173 meters Centerline goodness : 0.800457 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.83045962 -0.45093818 -0.32709567 -0.05749259] [ 0.49047495 0.87026662 0.04550104 -0.50637891] [ 0.26414229 -0.19821901 0.94389516 0.00555057] [ 0. 0. 0. 1. ]] SLAMing on 7.2248391729999994 meters Centerline goodness : 0.798981 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.82886646 -0.45467433 -0.32596265 -0.05498226] [ 0.49357123 0.86861889 0.04345874 -0.51082064] [ 0.26337775 -0.19690728 0.94438323 0.00646485] [ 0. 0. 0. 1. ]] SLAMing on 7.254839173 meters Centerline goodness : 0.798595 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.82889802 -0.45475495 -0.32576987 -0.05410138] [ 0.49348895 0.8686879 0.04301163 -0.50951536] [ 0.2634326 -0.19641608 0.94447022 0.00500992] [ 0. 0. 0. 1. ]] SLAMing on 7.284839173 meters Centerline goodness : 0.800536 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.83046005 -0.45081299 -0.32726708 -0.0552977 ] [ 0.49054429 0.87019692 0.04608271 -0.50895257] [ 0.26401212 -0.19880885 0.94380752 0.00528681] [ 0. 0. 0. 1. ]] SLAMing on 7.314839173 meters Centerline goodness : 0.799459 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82896471 -0.45523148 -0.32493354 -0.0575184 ] [ 0.49349472 0.86873931 0.04189233 -0.50595754] [ 0.26321183 -0.19508025 0.94480857 0.00457465] [ 0. 0. 0. 1. ]] SLAMing on 7.3448391729999996 meters Centerline goodness : 0.798481 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82747832 -0.4590371 -0.32336447 -0.05578116] [ 0.49632661 0.86726179 0.03894729 -0.50746098] [ 0.2625634 -0.19272243 0.94547265 0.0041279 ] [ 0. 0. 0. 1. ]] SLAMing on 7.374839173 meters Centerline goodness : 0.797378 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82714566 -0.45871429 -0.32467101 -0.05205127] [ 0.49649805 0.86712618 0.03977267 -0.50856947] [ 0.26328644 -0.19409631 0.94499041 0.00419359] [ 0. 0. 0. 1. ]] SLAMing on 7.404839173 meters Centerline goodness : 0.798653 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82682688 -0.45910351 -0.32493271 -0.051244 ] [ 0.49695539 0.86686533 0.03974716 -0.50843435] [ 0.26342484 -0.19434108 0.94490153 0.00423438] [ 0. 0. 0. 1. ]] SLAMing on 7.434839173 meters Centerline goodness : 0.797716 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82682322 -0.45888972 -0.32524389 -0.04905365] [ 0.49670691 0.86702268 0.0394197 -0.50663769] [ 0.26390453 -0.19414401 0.94480818 0.00256986] [ 0. 0. 0. 1. ]] SLAMing on 7.464839173 meters Centerline goodness : 0.797412 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82775003 -0.45760114 -0.32470153 -0.05125303] [ 0.49532048 0.86780219 0.03971113 -0.50531856] [ 0.26360485 -0.1937022 0.94498251 0.00167805] [ 0. 0. 0. 1. ]] SLAMing on 7.494839173 meters Centerline goodness : 0.800790 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.83222032 -0.44732504 -0.32758152 -0.0560271 ] [ 0.48749165 0.8718081 0.04798458 -0.50967971] [ 0.26412352 -0.199627 0.94360364 0.00463188] [ 0. 0. 0. 1. ]] SLAMing on 7.524839173 meters Centerline goodness : 0.801080 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.8349068 -0.44131706 -0.32889192 -0.05785469] [ 0.48273646 0.87419502 0.0524269 -0.51163929] [ 0.26437879 -0.20253969 0.9429112 0.00501598] [ 0. 0. 0. 1. ]] SLAMing on 7.5548391729999995 meters Centerline goodness : 0.800844 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.83472928 -0.44166565 -0.32887457 -0.05642719] [ 0.48297923 0.87408612 0.05200489 -0.51085651] [ 0.26449593 -0.20224959 0.94294062 0.00386193] [ 0. 0. 0. 1. ]] SLAMing on 7.584839173 meters Centerline goodness : 0.799340 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.8327254 -0.44584448 -0.32831557 -0.05153897] [ 0.48627736 0.87245165 0.04860495 -0.50918205] [ 0.26476922 -0.20012701 0.94331672 0.00201884] [ 0. 0. 0. 1. ]] SLAMing on 7.614839173 meters Centerline goodness : 0.796207 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.51, Z:0.00 [[ 0.82652539 -0.45979729 -0.3247187 -0.04233903] [ 0.49749789 0.8665768 0.03924929 -0.51389784] [ 0.26334698 -0.1939874 0.9449959 0.00124405] [ 0. 0. 0. 1. ]] SLAMing on 7.644839173 meters Centerline goodness : 0.797348 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.82175197 -0.47168802 -0.3197407 -0.04090124] [ 0.50669148 0.86156152 0.03123303 -0.51944107] [ 0.26074404 -0.18767569 0.94699017 0.00238408] [ 0. 0. 0. 1. ]] SLAMing on 7.674839173 meters Centerline goodness : 0.797903 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.8218754 -0.47116665 -0.32019183 -0.04055742] [ 0.50641283 0.86170219 0.03186499 -0.52137309] [ 0.26089628 -0.1883383 0.94681667 0.00350907] [ 0. 0. 0. 1. ]] SLAMing on 7.704839173 meters Centerline goodness : 0.799759 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.8247441 -0.46485395 -0.32203724 -0.04152915] [ 0.50130981 0.86452083 0.03594735 -0.51995868] [ 0.26169763 -0.19108779 0.94604429 0.00264213] [ 0. 0. 0. 1. ]] SLAMing on 7.734839173 meters Centerline goodness : 0.800778 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.82650166 -0.4607141 -0.32347724 -0.04359139] [ 0.49804791 0.8662842 0.03872938 -0.5180271 ] [ 0.26238005 -0.19311706 0.94544302 0.00275398] [ 0. 0. 0. 1. ]] SLAMing on 7.7648391729999995 meters Centerline goodness : 0.798930 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.00 [[ 0.82820081 -0.45660095 -0.32495997 -0.04603215] [ 0.49503204 0.86784742 0.04223897 -0.51820063] [ 0.26272932 -0.19584795 0.94478404 0.00387228] [ 0. 0. 0. 1. ]] SLAMing on 7.794839173 meters Centerline goodness : 0.799546 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82769671 -0.45792393 -0.32438222 -0.04848608] [ 0.49585426 0.86745337 0.0406597 -0.51416272] [ 0.2627674 -0.19450021 0.94505183 0.00358463] [ 0. 0. 0. 1. ]] SLAMing on 7.824839173 meters Centerline goodness : 0.799626 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82555282 -0.46344941 -0.32198941 -0.04931328] [ 0.49976283 0.86542568 0.03571421 -0.51058033] [ 0.26210618 -0.1904023 0.9460694 0.00235196] [ 0. 0. 0. 1. ]] SLAMing on 7.854839173 meters Centerline goodness : 0.800612 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82308276 -0.46927736 -0.31986486 -0.05064195] [ 0.50443674 0.86285069 0.03212886 -0.51268075] [ 0.26091826 -0.1877963 0.94691827 0.0042576 ] [ 0. 0. 0. 1. ]] SLAMing on 7.884839173 meters Centerline goodness : 0.799867 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82181112 -0.47316826 -0.31739295 -0.05095237] [ 0.50708657 0.8614144 0.02878269 -0.51283156] [ 0.2597878 -0.18459963 0.9478572 0.00317838] [ 0. 0. 0. 1. ]] SLAMing on 7.914839173 meters Centerline goodness : 0.801235 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82199321 -0.4731764 -0.31690891 -0.05332062] [ 0.50700309 0.86146272 0.02880722 -0.51322343] [ 0.25937432 -0.18435313 0.9480184 0.00398492] [ 0. 0. 0. 1. ]] SLAMing on 7.944839173 meters Centerline goodness : 0.801933 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.8235736 -0.46897336 -0.31904627 -0.05379082] [ 0.50413681 0.86300012 0.03281561 -0.51444991] [ 0.25994732 -0.18786904 0.94717085 0.00520256] [ 0. 0. 0. 1. ]] SLAMing on 7.9748391729999994 meters Centerline goodness : 0.800857 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82519502 -0.46556943 -0.31984104 -0.05712385] [ 0.50118474 0.86465429 0.03445007 -0.50941436] [ 0.26051303 -0.18872747 0.94684471 0.00412068] [ 0. 0. 0. 1. ]] SLAMing on 8.004839172999999 meters Centerline goodness : 0.800855 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82658355 -0.46135133 -0.32235785 -0.05555295] [ 0.49823377 0.8662161 0.03785201 -0.5089493 ] [ 0.26176848 -0.19189742 0.94586079 0.00424017] [ 0. 0. 0. 1. ]] SLAMing on 8.034839173 meters Centerline goodness : 0.799696 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82431731 -0.46670993 -0.32044158 -0.05573037] [ 0.50242831 0.86394342 0.03416966 -0.51048394] [ 0.26089608 -0.18916556 0.9466518 0.00546307] [ 0. 0. 0. 1. ]] SLAMing on 8.064839173 meters Centerline goodness : 0.801481 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81847177 -0.48023958 -0.31539484 -0.05366186] [ 0.51271024 0.85823401 0.02371922 -0.50844759] [ 0.25929167 -0.18111967 0.94866406 0.00453847] [ 0. 0. 0. 1. ]] SLAMing on 8.094839173 meters Centerline goodness : 0.799159 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81805373 -0.48089277 -0.31548415 -0.0533219 ] [ 0.51332179 0.85787754 0.02338532 -0.50810528] [ 0.25940093 -0.18107534 0.94864265 0.00469427] [ 0. 0. 0. 1. ]] SLAMing on 8.124839173 meters Centerline goodness : 0.798505 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81773191 -0.48146985 -0.31543828 -0.05268385] [ 0.51373656 0.85764703 0.02272263 -0.50647171] [ 0.25959444 -0.1806332 0.94867401 0.00394223] [ 0. 0. 0. 1. ]] SLAMing on 8.154839173 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81830809 -0.4807788 -0.31499779 -0.05396438] [ 0.51292195 0.85813466 0.02271517 -0.50564514] [ 0.25938955 -0.18015729 0.94882054 0.00341968] [ 0. 0. 0. 1. ]] SLAMing on 8.184839173 meters Centerline goodness : 0.801416 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82190659 -0.47234755 -0.31836668 -0.0561229 ] [ 0.50679841 0.86153753 0.03014076 -0.51068417] [ 0.26004793 -0.18612061 0.94748836 0.00644064] [ 0. 0. 0. 1. ]] SLAMing on 8.214839173 meters Centerline goodness : 0.802247 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82236381 -0.47153113 -0.31839622 -0.05651591] [ 0.50597786 0.86201597 0.03024694 -0.5100391 ] [ 0.26020025 -0.18597543 0.94747505 0.00613364] [ 0. 0. 0. 1. ]] SLAMing on 8.244839172999999 meters Centerline goodness : 0.801597 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82437077 -0.46638913 -0.32077096 -0.05591301] [ 0.50230794 0.86399219 0.03470209 -0.51218095] [ 0.26095892 -0.18973319 0.94652087 0.00700049] [ 0. 0. 0. 1. ]] SLAMing on 8.274839173 meters Centerline goodness : 0.800300 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82414842 -0.46654456 -0.32111612 -0.05501316] [ 0.50249569 0.86388993 0.03452918 -0.51075796] [ 0.26129958 -0.18981664 0.94641015 0.00647434] [ 0. 0. 0. 1. ]] SLAMing on 8.304839173 meters Centerline goodness : 0.801902 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82295673 -0.46942914 -0.31996642 -0.05600255] [ 0.50472959 0.8626641 0.03253761 -0.51165903] [ 0.26074945 -0.18827356 0.94687 0.00747288] [ 0. 0. 0. 1. ]] SLAMing on 8.334839173 meters Centerline goodness : 0.802114 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82128182 -0.47306142 -0.3189186 -0.05297757] [ 0.50775516 0.86096188 0.03048498 -0.5151405 ] [ 0.26015549 -0.18696932 0.94729171 0.00771454] [ 0. 0. 0. 1. ]] SLAMing on 8.364839173 meters Centerline goodness : 0.799496 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82153714 -0.4724721 -0.31913453 -0.0525729 ] [ 0.50736402 0.86116874 0.03114733 -0.5168649 ] [ 0.26011244 -0.18750607 0.94719744 0.00814541] [ 0. 0. 0. 1. ]] SLAMing on 8.394839173 meters Centerline goodness : 0.800868 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82254995 -0.47056034 -0.3193502 -0.0521223 ] [ 0.50572803 0.86208721 0.03232349 -0.51790814] [ 0.26009757 -0.18809204 0.94708534 0.00752677] [ 0. 0. 0. 1. ]] SLAMing on 8.424839173 meters Centerline goodness : 0.801056 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82109241 -0.47443108 -0.31736794 -0.05258508] [ 0.50850711 0.86056405 0.0291554 -0.51805161] [ 0.25928321 -0.18532313 0.94785418 0.00739428] [ 0. 0. 0. 1. ]] SLAMing on 8.454839173 meters Centerline goodness : 0.800050 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886067 -0.47898171 -0.31629689 -0.0501859 ] [ 0.51263071 0.85816572 0.02759254 -0.52405112] [ 0.25821883 -0.18473795 0.94825889 0.00916132] [ 0. 0. 0. 1. ]] SLAMing on 8.484839173 meters Centerline goodness : 0.800556 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81867431 -0.47918383 -0.3164731 -0.04949343] [ 0.51290713 0.85799716 0.02769755 -0.5244767 ] [ 0.2582608 -0.18499658 0.94819704 0.00918643] [ 0. 0. 0. 1. ]] SLAMing on 8.514839173 meters Centerline goodness : 0.800648 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81876652 -0.47843335 -0.31736874 -0.04647384] [ 0.51244596 0.85825573 0.02821774 -0.52202002] [ 0.25888323 -0.18573807 0.94788229 0.00714419] [ 0. 0. 0. 1. ]] SLAMing on 8.544839173 meters Centerline goodness : 0.799098 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886489 -0.4782081 -0.31745442 -0.04567479] [ 0.51223252 0.85838252 0.02823632 -0.52179701] [ 0.25899449 -0.18573221 0.94785305 0.00661807] [ 0. 0. 0. 1. ]] SLAMing on 8.574839172999999 meters Centerline goodness : 0.799098 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886489 -0.4782081 -0.31745442 -0.04567479] [ 0.51223252 0.85838252 0.02823632 -0.52179701] [ 0.25899449 -0.18573221 0.94785305 0.00661807] [ 0. 0. 0. 1. ]] SLAMing on 8.604839173 meters Centerline goodness : 0.798736 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.01 [[ 0.81917588 -0.47742425 -0.31783165 -0.04311483] [ 0.51169536 0.85867762 0.02899327 -0.52444216] [ 0.25907283 -0.18638357 0.94770377 0.00637759] [ 0. 0. 0. 1. ]] SLAMing on 8.634839173 meters Centerline goodness : 0.800108 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.8190651 -0.47780331 -0.31754739 -0.04435657] [ 0.51208675 0.85843772 0.0291862 -0.52793327] [ 0.2586494 -0.18651721 0.94779313 0.00830369] [ 0. 0. 0. 1. ]] SLAMing on 8.664839173 meters Centerline goodness : 0.799734 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.81891629 -0.47804092 -0.31757359 -0.04303962] [ 0.51231183 0.85830707 0.02907863 -0.52781157] [ 0.25867488 -0.18650968 0.94778766 0.007495 ] [ 0. 0. 0. 1. ]] SLAMing on 8.694839173 meters Centerline goodness : 0.798603 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.81891588 -0.47809474 -0.31749363 -0.04286597] [ 0.5122557 0.85835242 0.02872669 -0.52642257] [ 0.25878735 -0.18616267 0.94782518 0.00679346] [ 0. 0. 0. 1. ]] SLAMing on 8.724839173 meters Centerline goodness : 0.800286 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.53, Z:0.00 [[ 0.82332701 -0.46867902 -0.32011344 -0.06499767] [ 0.50440791 0.86279132 0.03411435 -0.5340689 ] [ 0.26020242 -0.18955502 0.94676481 0.00256439] [ 0. 0. 0. 1. ]] SLAMing on 8.754839173 meters Centerline goodness : 0.800494 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82495741 -0.46478523 -0.32158974 -0.06635625] [ 0.50139355 0.86443405 0.03685487 -0.53231389] [ 0.26086352 -0.19164672 0.94616159 0.00241283] [ 0. 0. 0. 1. ]] SLAMing on 8.784839173 meters Centerline goodness : 0.801786 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82631627 -0.46163919 -0.32263087 -0.06955659] [ 0.49901153 0.86570087 0.03936354 -0.53202454] [ 0.26113007 -0.19352326 0.945706 0.00371096] [ 0. 0. 0. 1. ]] SLAMing on 8.814839173 meters Centerline goodness : 0.799797 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82605328 -0.46218864 -0.32251766 -0.07058976] [ 0.49941755 0.86549049 0.03883703 -0.53105647] [ 0.26118594 -0.19315244 0.94576638 0.00422595] [ 0. 0. 0. 1. ]] SLAMing on 8.844839173 meters Centerline goodness : 0.798160 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:0.00 [[ 0.82427159 -0.46660045 -0.32071852 -0.0693453 ] [ 0.50238671 0.86396544 0.0342245 -0.52492112] [ 0.26112055 -0.189335 0.94655603 0.00105141] [ 0. 0. 0. 1. ]] SLAMing on 8.874839173 meters Centerline goodness : 0.794881 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 8.23718246e-01 -4.67680501e-01 -3.20566998e-01 -6.82002252e-02] [ 5.03200860e-01 8.63532002e-01 3.31869785e-02 -5.22910107e-01] [ 2.61298959e-01 -1.88646309e-01 9.46644297e-01 -1.36327491e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904839173 meters Centerline goodness : 0.794047 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 0.82161213 -0.47307622 -0.31804465 -0.06694162] [ 0.50700361 0.86147766 0.02834733 -0.5204575 ] [ 0.26057792 -0.18454029 0.94765185 -0.00244084] [ 0. 0. 0. 1. ]] SLAMing on 8.934839173 meters Centerline goodness : 0.794342 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 0.82194756 -0.4728232 -0.31755382 -0.06903644] [ 0.50657409 0.86173796 0.02811377 -0.51963496] [ 0.26035533 -0.18397258 0.9478234 -0.0023152 ] [ 0. 0. 0. 1. ]] SLAMing on 8.964839173 meters Centerline goodness : 0.793459 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.52, Z:-0.00 [[ 0.82423198 -0.46402316 -0.32453682 -0.08335862] [ 0.49821904 0.86665555 0.02619064 -0.52016378] [ 0.26910857 -0.18327758 0.94551039 -0.00174281] [ 0. 0. 0. 1. ]] SLAMing on 8.994839172999999 meters Centerline goodness : 0.793553 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.52, Z:-0.00 [[ 0.82639845 -0.45961472 -0.32529972 -0.08637294] [ 0.4943975 0.86876864 0.02849826 -0.51702165] [ 0.26951198 -0.18437828 0.94518143 -0.00275187] [ 0. 0. 0. 1. ]] SLAMing on 9.024839173 meters Centerline goodness : 0.792263 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:-0.01 [[ 0.83117227 -0.44973783 -0.32693812 -0.09165603] [ 0.48585712 0.87338616 0.03375614 -0.51118211] [ 0.27036182 -0.18690239 0.94444269 -0.00529699] [ 0. 0. 0. 1. ]] SLAMing on 9.054839173 meters Centerline goodness : 0.794427 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:-0.00 [[ 0.83262765 -0.44615311 -0.32814417 -0.09433515] [ 0.48321859 0.87472548 0.0368121 -0.51184467] [ 0.27061223 -0.18921613 0.9439101 -0.00382358] [ 0. 0. 0. 1. ]] SLAMing on 9.084839173 meters Centerline goodness : 0.790199 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.51, Z:-0.00 [[ 0.83016225 -0.45215939 -0.32616333 -0.09504801] [ 0.48771531 0.87241907 0.03191762 -0.50814036] [ 0.27011926 -0.18557166 0.94477444 -0.00433164] [ 0. 0. 0. 1. ]] SLAMing on 9.114839173 meters Centerline goodness : 0.789885 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:0.00 [[ 0.83070011 -0.4482736 -0.33013346 -0.09388003] [ 0.48615626 0.87305343 0.03781275 -0.51318756] [ 0.27127369 -0.1919075 0.9431766 0.00128258] [ 0. 0. 0. 1. ]] SLAMing on 9.144839173 meters Centerline goodness : 0.791450 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.52, Z:0.00 [[ 0.83080679 -0.44790068 -0.33037108 -0.09455368] [ 0.48611648 0.87302958 0.03886035 -0.51694275] [ 0.27101815 -0.19288427 0.9430508 0.0034908 ] [ 0. 0. 0. 1. ]] SLAMing on 9.174839173 meters Centerline goodness : 0.792138 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.01 [[ 0.83033113 -0.4454422 -0.33486036 -0.10279129] [ 0.4824608 0.87533553 0.03192626 -0.52146787] [ 0.27889386 -0.18806637 0.94172674 0.00579872] [ 0. 0. 0. 1. ]] SLAMing on 9.204839173 meters Centerline goodness : 0.789488 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.52, Z:0.01 [[ 0.82775085 -0.44762447 -0.33832065 -0.10630349] [ 0.48181925 0.87604776 0.01976194 -0.52305839] [ 0.28753912 -0.17936737 0.94082336 0.00507344] [ 0. 0. 0. 1. ]] SLAMing on 9.234839173 meters Centerline goodness : 0.789729 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.01 [[ 0.82688982 -0.44830633 -0.33952122 -0.10390323] [ 0.48312982 0.87529947 0.02089071 -0.52691693] [ 0.28781731 -0.18130714 0.94036638 0.00753378] [ 0. 0. 0. 1. ]] SLAMing on 9.264839173 meters Centerline goodness : 0.795622 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.53, Z:0.01 [[ 0.824647 -0.45351798 -0.33805142 -0.10867363] [ 0.48775813 0.87277285 0.01896192 -0.53104687] [ 0.28644253 -0.18052422 0.9409366 0.01300453] [ 0. 0. 0. 1. ]] SLAMing on 9.294839173 meters Centerline goodness : 0.795229 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.53, Z:0.01 [[ 0.8256754 -0.45045885 -0.33962768 -0.11037753] [ 0.48574473 0.8738258 0.02192079 -0.53147513] [ 0.28690101 -0.18307182 0.94030448 0.01461898] [ 0. 0. 0. 1. ]] SLAMing on 9.324839172999999 meters Centerline goodness : 0.796702 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.53, Z:0.01 [[ 0.82900202 -0.44288807 -0.34147594 -0.11716625] [ 0.47959575 0.87708151 0.02675709 -0.52637566] [ 0.28765183 -0.18595209 0.93950958 0.01487768] [ 0. 0. 0. 1. ]] SLAMing on 9.354839173 meters Centerline goodness : 0.795107 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.53, Z:0.02 [[ 0.82752831 -0.43985062 -0.34889587 -0.12373246] [ 0.4757593 0.87935181 0.01983644 -0.52663674] [ 0.29807714 -0.18240567 0.93695154 0.01570188] [ 0. 0. 0. 1. ]] SLAMing on 9.384839173 meters Centerline goodness : 0.796187 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.01 [[ 0.82948532 -0.43550642 -0.34969739 -0.12613174] [ 0.47201247 0.88131624 0.02204344 -0.52406018] [ 0.29859393 -0.18334624 0.93660334 0.01491665] [ 0. 0. 0. 1. ]] SLAMing on 9.414839172999999 meters Centerline goodness : 0.795439 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.01 [[ 0.8291324 -0.43634338 -0.34949094 -0.12484521] [ 0.47247046 0.88110043 0.02082522 -0.52176921] [ 0.29884967 -0.18239101 0.93670827 0.0134216 ] [ 0. 0. 0. 1. ]] SLAMing on 9.444839173 meters Centerline goodness : 0.796195 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.02 [[ 0.82679353 -0.44154872 -0.34849273 -0.1263864 ] [ 0.47685215 0.87880203 0.01786082 -0.52291301] [ 0.2983697 -0.18094672 0.93714129 0.01662638] [ 0. 0. 0. 1. ]] SLAMing on 9.474839173 meters Centerline goodness : 0.798516 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.02 [[ 0.82639562 -0.44175427 -0.34917538 -0.12702774] [ 0.47734556 0.87852544 0.01828281 -0.52357647] [ 0.29868295 -0.18178615 0.93687902 0.0187291 ] [ 0. 0. 0. 1. ]] SLAMing on 9.504839173 meters Centerline goodness : 0.796477 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.8257342 -0.44243012 -0.34988373 -0.12487966] [ 0.47804036 0.8781585 0.01775019 -0.52145736] [ 0.29940015 -0.18191549 0.93662496 0.01829339] [ 0. 0. 0. 1. ]] SLAMing on 9.534839173 meters Centerline goodness : 0.794661 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82532775 -0.44259985 -0.35062725 -0.12120405] [ 0.47809335 0.87814695 0.01687262 -0.51757784] [ 0.30043443 -0.181558 0.93636309 0.01618415] [ 0. 0. 0. 1. ]] SLAMing on 9.564839173 meters Centerline goodness : 0.793823 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82666169 -0.43816029 -0.35305242 -0.11998012] [ 0.47520407 0.87962482 0.02100632 -0.51922567] [ 0.30134954 -0.18513707 0.93536769 0.01731106] [ 0. 0. 0. 1. ]] SLAMing on 9.594839173 meters Centerline goodness : 0.795484 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82841896 -0.43323184 -0.35501014 -0.12105379] [ 0.47176684 0.88135983 0.02531605 -0.52116415] [ 0.30192395 -0.18845431 0.93451961 0.01894702] [ 0. 0. 0. 1. ]] SLAMing on 9.624839173 meters Centerline goodness : 0.794060 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82880794 -0.43049557 -0.35742267 -0.12044124] [ 0.47021203 0.88211256 0.02789391 -0.51913866] [ 0.30327882 -0.19118313 0.93352609 0.02021064] [ 0. 0. 0. 1. ]] SLAMing on 9.654839173 meters Centerline goodness : 0.795031 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82832165 -0.43136201 -0.35750534 -0.12124545] [ 0.47094776 0.88173967 0.02726458 -0.51746298] [ 0.30346574 -0.19095018 0.93351303 0.02075357] [ 0. 0. 0. 1. ]] SLAMing on 9.684839173 meters Centerline goodness : 0.794151 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82578816 -0.43712938 -0.35635911 -0.11733834] [ 0.47522913 0.8795793 0.02230514 -0.51327518] [ 0.30369586 -0.18777155 0.93408279 0.01856455] [ 0. 0. 0. 1. ]] SLAMing on 9.714839173 meters Centerline goodness : 0.795076 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82593993 -0.43677115 -0.35644662 -0.11819877] [ 0.47506944 0.8796495 0.02292992 -0.51485355] [ 0.30353297 -0.18827563 0.93403427 0.01968069] [ 0. 0. 0. 1. ]] SLAMing on 9.744839172999999 meters Centerline goodness : 0.795325 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82625712 -0.43594163 -0.35672689 -0.1169866 ] [ 0.47444167 0.87997238 0.02353121 -0.51609662] [ 0.30365158 -0.18868893 0.93391231 0.01944635] [ 0. 0. 0. 1. ]] SLAMing on 9.774839173 meters Centerline goodness : 0.796862 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82949212 -0.43021873 -0.35616663 -0.1234498 ] [ 0.46920163 0.88269254 0.02652743 -0.51463811] [ 0.30297303 -0.18911826 0.93404584 0.01833927] [ 0. 0. 0. 1. ]] SLAMing on 9.804839173 meters Centerline goodness : 0.795873 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.01 [[ 0.83484451 -0.41678179 -0.35962143 -0.12451615] [ 0.45812314 0.88823457 0.03409584 -0.50758457] [ 0.30521766 -0.19321562 0.93247515 0.01385634] [ 0. 0. 0. 1. ]] SLAMing on 9.834839173 meters Centerline goodness : 0.797433 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.50, Z:0.01 [[ 0.83729036 -0.41179981 -0.35967453 -0.12866868] [ 0.45353124 0.89050403 0.0362215 -0.50382976] [ 0.30537561 -0.19345154 0.93237452 0.01206277] [ 0. 0. 0. 1. ]] SLAMing on 9.864839173 meters Centerline goodness : 0.795157 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.50, Z:0.01 [[ 0.84067523 -0.40320099 -0.36151641 -0.133283 ] [ 0.44638778 0.89389668 0.04106903 -0.49784275] [ 0.30659925 -0.19590222 0.9314608 0.01065986] [ 0. 0. 0. 1. ]] SLAMing on 9.894839173 meters Centerline goodness : 0.796516 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.49, Z:0.01 [[ 0.84090198 -0.4084817 -0.35500219 -0.12588291] [ 0.45192976 0.89089806 0.04538866 -0.49189225] [ 0.29773032 -0.19860347 0.93376299 0.00816513] [ 0. 0. 0. 1. ]] SLAMing on 9.924839173 meters Centerline goodness : 0.795452 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.49, Z:0.01 [[ 0.83750762 -0.41468349 -0.35583505 -0.12026929] [ 0.45780566 0.88803033 0.04261583 -0.49294695] [ 0.29832024 -0.19859438 0.93357662 0.01034601] [ 0. 0. 0. 1. ]] SLAMing on 9.954839173 meters Centerline goodness : 0.795165 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.50, Z:0.01 [[ 0.83580131 -0.41860904 -0.35525011 -0.11619021] [ 0.46121599 0.88635525 0.04067167 -0.49679068] [ 0.29785227 -0.19784047 0.93388606 0.01077881] [ 0. 0. 0. 1. ]] SLAMing on 9.984839173 meters Centerline goodness : 0.793806 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.50, Z:0.01 [[ 0.83470067 -0.42107407 -0.35492453 -0.1119885 ] [ 0.46367812 0.88508103 0.04042482 -0.5045294 ] [ 0.29711513 -0.19831336 0.93402056 0.01224243] [ 0. 0. 0. 1. ]] SLAMing on 10.014839173 meters Centerline goodness : 0.794162 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.51, Z:0.01 [[ 0.83506093 -0.42017733 -0.35513975 -0.11107402] [ 0.46309784 0.88533799 0.0414371 -0.507232 ] [ 0.29700778 -0.19906696 0.93389439 0.0126189 ] [ 0. 0. 0. 1. ]] SLAMing on 10.044839173 meters Centerline goodness : 0.791302 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.51, Z:0.01 [[ 0.83468906 -0.42200106 -0.35384922 -0.10783956] [ 0.46427376 0.88478956 0.03996644 -0.51228312] [ 0.29621621 -0.19764246 0.93444819 0.0118378 ] [ 0. 0. 0. 1. ]] SLAMing on 10.074839172999999 meters Centerline goodness : 0.792764 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.51, Z:0.01 [[ 0.8332121 -0.42561337 -0.35300262 -0.10444744] [ 0.46715518 0.88337677 0.03757022 -0.51433023] [ 0.29584393 -0.19621096 0.93486771 0.01145343] [ 0. 0. 0. 1. ]] SLAMing on 10.104839173 meters Centerline goodness : 0.792987 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.01 [[ 0.83217215 -0.42567195 -0.35537714 -0.100368 ] [ 0.46845137 0.88259325 0.03978026 -0.51869266] [ 0.29672012 -0.19958093 0.93387613 0.01465423] [ 0. 0. 0. 1. ]] SLAMing on 10.134839173 meters Centerline goodness : 0.792774 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.02 [[ 0.83178874 -0.42579777 -0.35612323 -0.09915244] [ 0.46894 0.88230721 0.04036404 -0.51976713] [ 0.29702318 -0.20057479 0.93356681 0.01575112] [ 0. 0. 0. 1. ]] SLAMing on 10.164839172999999 meters Centerline goodness : 0.792807 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.02 [[ 0.83246738 -0.42438596 -0.35622272 -0.09985824] [ 0.46813753 0.88263404 0.04247829 -0.52547441] [ 0.29638711 -0.20212301 0.93343504 0.01769087] [ 0. 0. 0. 1. ]] SLAMing on 10.194839173 meters Centerline goodness : 0.793880 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.02 [[ 0.83349999 -0.42275447 -0.3557477 -0.10198489] [ 0.46680046 0.88326443 0.04405985 -0.52968523] [ 0.29559279 -0.20278708 0.93354288 0.01887854] [ 0. 0. 0. 1. ]] SLAMing on 10.224839173 meters Centerline goodness : 0.796046 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.8326898 -0.42495842 -0.35501836 -0.10074412] [ 0.4688213 0.88221652 0.04359599 -0.5368549 ] [ 0.29467658 -0.2027421 0.93384225 0.02133743] [ 0. 0. 0. 1. ]] SLAMing on 10.254839173 meters Centerline goodness : 0.794342 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.8310463 -0.42883198 -0.35421064 -0.09789044] [ 0.47186603 0.88072471 0.04082204 -0.5378126 ] [ 0.29445626 -0.20106498 0.93427426 0.02122078] [ 0. 0. 0. 1. ]] SLAMing on 10.284839173 meters Centerline goodness : 0.794665 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.82946296 -0.43268918 -0.35322977 -0.09527883] [ 0.47488674 0.87922009 0.0381393 -0.5389418 ] [ 0.29406425 -0.19937927 0.93475886 0.02096344] [ 0. 0. 0. 1. ]] SLAMing on 10.314839173 meters Centerline goodness : 0.794203 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.54, Z:0.02 [[ 0.82989403 -0.43123355 -0.35399651 -0.09167796] [ 0.47398227 0.8796428 0.03961499 -0.54164546] [ 0.29430717 -0.20066432 0.93440736 0.02028387] [ 0. 0. 0. 1. ]] SLAMing on 10.344839173 meters Centerline goodness : 0.792866 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.02 [[ 0.82889417 -0.43388507 -0.35309801 -0.09055465] [ 0.4760998 0.87856722 0.03806066 -0.54541836] [ 0.29370639 -0.19965815 0.93481184 0.02149922] [ 0. 0. 0. 1. ]] SLAMing on 10.374839173 meters Centerline goodness : 0.793538 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.02 [[ 0.82743286 -0.43776346 -0.35173573 -0.08984301] [ 0.47900833 0.87710408 0.03520574 -0.54632879] [ 0.29309706 -0.19761473 0.93543708 0.02168537] [ 0. 0. 0. 1. ]] SLAMing on 10.404839173 meters Centerline goodness : 0.793073 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.03 [[ 0.82737237 -0.43760569 -0.35207418 -0.08935966] [ 0.47939555 0.87682983 0.03673346 -0.55421553] [ 0.29263437 -0.19917504 0.935251 0.02513614] [ 0. 0. 0. 1. ]] SLAMing on 10.434839173 meters Centerline goodness : 0.793015 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.56, Z:0.03 [[ 0.82767722 -0.43640129 -0.3528517 -0.0866315 ] [ 0.47878397 0.87709717 0.03829441 -0.55788826] [ 0.2927735 -0.20063515 0.9348953 0.02553247] [ 0. 0. 0. 1. ]] SLAMing on 10.464839173 meters Centerline goodness : 0.793015 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.56, Z:0.03 [[ 0.82767722 -0.43640129 -0.3528517 -0.0866315 ] [ 0.47878397 0.87709717 0.03829441 -0.55788826] [ 0.2927735 -0.20063515 0.9348953 0.02553247] [ 0. 0. 0. 1. ]] SLAMing on 10.494839172999999 meters Centerline goodness : 0.793975 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.56, Z:0.03 [[ 0.82840693 -0.43407733 -0.354004 -0.08442186] [ 0.4773737 0.87775212 0.04081136 -0.5641878 ] [ 0.29301247 -0.20280061 0.93435304 0.02753023] [ 0. 0. 0. 1. ]] SLAMing on 10.524839173 meters Centerline goodness : 0.789834 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.56, Z:0.03 [[ 0.82660916 -0.43796114 -0.35342232 -0.07924208] [ 0.48046392 0.87619238 0.03796495 -0.56473626] [ 0.29303877 -0.20118884 0.93469317 0.02629844] [ 0. 0. 0. 1. ]] SLAMing on 10.554839173 meters Centerline goodness : 0.792411 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.57, Z:0.03 [[ 0.82268066 -0.44801645 -0.34996827 -0.08138455] [ 0.48896793 0.87165556 0.03357001 -0.574068 ] [ 0.29001187 -0.19874066 0.93615985 0.0313159 ] [ 0. 0. 0. 1. ]] SLAMing on 10.584839172999999 meters Centerline goodness : 0.790432 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.58, Z:0.03 [[ 0.82115517 -0.45209889 -0.34829697 -0.08171331] [ 0.49216292 0.86994654 0.03112364 -0.57709231] [ 0.28892878 -0.19697619 0.93686741 0.03237326] [ 0. 0. 0. 1. ]] SLAMing on 10.614839173 meters Centerline goodness : 0.790556 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.59, Z:0.02 [[ 0.82141222 -0.45351496 -0.34584121 -0.09900728] [ 0.49064212 0.87105541 0.02308221 -0.59189445] [ 0.29077873 -0.18864427 0.9380091 0.02203678] [ 0. 0. 0. 1. ]] SLAMing on 10.644839173 meters Centerline goodness : 0.789834 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.61, Z:0.01 [[ 0.82456864 -0.45192541 -0.34036743 -0.1252875 ] [ 0.48661109 0.87340809 0.01918202 -0.60873138] [ 0.28861082 -0.18144346 0.94009684 0.00777625] [ 0. 0. 0. 1. ]] SLAMing on 10.674839173 meters Centerline goodness : 0.789395 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.63, Z:-0.02 [[ 0.82855086 -0.44950117 -0.33384452 -0.15601074] [ 0.48194503 0.8760447 0.01657314 -0.6315577 ] [ 0.28501308 -0.1746264 0.94248245 -0.01502278] [ 0. 0. 0. 1. ]] SLAMing on 10.704839173 meters Centerline goodness : 0.794843 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.64, Z:-0.02 [[ 0.83283255 -0.44657295 -0.32705129 -0.1663935 ] [ 0.47842582 0.87791006 0.01956178 -0.63820056] [ 0.27838585 -0.17276147 0.9448041 -0.0241346 ] [ 0. 0. 0. 1. ]] SLAMing on 10.734839173 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.66, Z:-0.04 [[ 0.83515829 -0.44577885 -0.32216742 -0.19624999] [ 0.47896577 0.87740018 0.02758127 -0.65626541] [ 0.2703746 -0.17734189 0.94628084 -0.03564871] [ 0. 0. 0. 1. ]] SLAMing on 10.764839173 meters Centerline goodness : 0.789032 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.68, Z:-0.05 [[ 0.83564381 -0.44819017 -0.31752952 -0.22832675] [ 0.48162582 0.87581831 0.03128678 -0.67836215] [ 0.26407574 -0.17907502 0.94773211 -0.05195559] [ 0. 0. 0. 1. ]] SLAMing on 10.794839173 meters Centerline goodness : 0.789882 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.70, Z:-0.07 [[ 0.83749503 -0.44661888 -0.31485497 -0.25414074] [ 0.48027319 0.87644953 0.03426182 -0.69854211] [ 0.26065251 -0.17991051 0.94852121 -0.06521864] [ 0. 0. 0. 1. ]] SLAMing on 10.824839172999999 meters Centerline goodness : 0.789636 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.72, Z:-0.08 [[ 0.83968034 -0.44648085 -0.30917918 -0.28319045] [ 0.47943675 0.8768445 0.03583467 -0.71739999] [ 0.25510258 -0.17832153 0.95032842 -0.07870531] [ 0. 0. 0. 1. ]] SLAMing on 10.854839173 meters Centerline goodness : 0.789639 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.74, Z:-0.09 [[ 0.84040654 -0.44997165 -0.3020635 -0.31123684] [ 0.48164208 0.87564373 0.03562263 -0.7374074 ] [ 0.24847084 -0.17542398 0.952622 -0.09038651] [ 0. 0. 0. 1. ]] SLAMing on 10.884839173 meters Centerline goodness : 0.790383 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.74, Z:-0.09 [[ 0.83977118 -0.45156354 -0.30145436 -0.31297819] [ 0.48299613 0.87492663 0.03490169 -0.7384553 ] [ 0.24799011 -0.17491072 0.95284161 -0.08922471] [ 0. 0. 0. 1. ]] SLAMing on 10.914839172999999 meters Centerline goodness : 0.790573 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.75, Z:-0.10 [[ 0.83882611 -0.45608952 -0.29724251 -0.33388025] [ 0.48560553 0.87366888 0.0298321 -0.7525253 ] [ 0.24608542 -0.16936655 0.95433586 -0.10243272] [ 0. 0. 0. 1. ]] SLAMing on 10.944839173 meters Centerline goodness : 0.789367 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.77, Z:-0.12 [[ 0.83948986 -0.45582887 -0.29576481 -0.3675972 ] [ 0.48396093 0.87471628 0.02555868 -0.77131202] [ 0.24705991 -0.16459486 0.95491881 -0.11978616] [ 0. 0. 0. 1. ]] SLAMing on 10.974839173 meters Centerline goodness : 0.793565 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.78, Z:-0.13 [[ 0.84562972 -0.44822024 -0.28984304 -0.38348638] [ 0.47614486 0.8788517 0.03009603 -0.77555011] [ 0.2412394 -0.16345737 0.95660088 -0.12501091] [ 0. 0. 0. 1. ]] SLAMing on 11.004839173 meters Centerline goodness : 0.792493 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.79, Z:-0.14 [[ 0.84962857 -0.44488526 -0.28321086 -0.41491559] [ 0.47271805 0.88051948 0.0349726 -0.78910319] [ 0.23381388 -0.16359261 0.95841981 -0.13642079] [ 0. 0. 0. 1. ]] SLAMing on 11.034839173 meters Centerline goodness : 0.791320 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.80, Z:-0.15 [[ 0.85223901 -0.44058118 -0.28209375 -0.44709906] [ 0.47036336 0.88134964 0.04450981 -0.79812449] [ 0.22901304 -0.17061956 0.95835379 -0.15331485] [ 0. 0. 0. 1. ]] SLAMing on 11.064839173 meters Centerline goodness : 0.792638 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.81, Z:-0.17 [[ 0.85341857 -0.44050032 -0.27863277 -0.47416551] [ 0.47028477 0.88125021 0.04722616 -0.80930814] [ 0.22474205 -0.17134043 0.95923588 -0.16546796] [ 0. 0. 0. 1. ]] SLAMing on 11.094839173 meters Centerline goodness : 0.791796 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.83, Z:-0.18 [[ 0.85644801 -0.44007408 -0.26987331 -0.50778457] [ 0.4685486 0.88210386 0.04852822 -0.82536837] [ 0.21670028 -0.16801066 0.96167219 -0.17942939] [ 0. 0. 0. 1. ]] SLAMing on 11.124839173 meters Centerline goodness : 0.788824 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.84, Z:-0.19 [[ 0.85768571 -0.44236193 -0.26208997 -0.53578982] [ 0.46915084 0.88187505 0.04683897 -0.83999044] [ 0.21041083 -0.16313284 0.96390609 -0.19182435] [ 0. 0. 0. 1. ]] SLAMing on 11.154839173 meters Centerline goodness : 0.789584 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.86, Z:-0.21 [[ 0.85766387 -0.44502346 -0.25761755 -0.56647514] [ 0.47140728 0.88059625 0.04822266 -0.85571197] [ 0.20539683 -0.16280162 0.96504289 -0.20844008] [ 0. 0. 0. 1. ]] SLAMing on 11.184839173 meters Centerline goodness : 0.790837 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.87, Z:-0.22 [[ 0.85555301 -0.44919855 -0.25739018 -0.58941382] [ 0.47586044 0.87814375 0.04919741 -0.86660732] [ 0.20392617 -0.1645728 0.96505435 -0.21753088] [ 0. 0. 0. 1. ]] SLAMing on 11.214839173 meters Centerline goodness : 0.789517 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.88, Z:-0.23 [[ 0.85385874 -0.45655621 -0.24996335 -0.62275216] [ 0.48138179 0.87532427 0.04559596 -0.8835509 ] [ 0.19798187 -0.15926032 0.96718113 -0.23100721] [ 0. 0. 0. 1. ]] SLAMing on 11.244839172999999 meters Centerline goodness : 0.791649 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.90, Z:-0.24 [[ 0.85423438 -0.45953542 -0.24312716 -0.65250612] [ 0.48295784 0.87454185 0.04391215 -0.89808778] [ 0.19244569 -0.15493144 0.96899995 -0.24350705] [ 0. 0. 0. 1. ]] SLAMing on 11.274839173 meters Centerline goodness : 0.794388 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.91, Z:-0.26 [[ 0.85746 -0.4589107 -0.23273013 -0.69151677] [ 0.48112983 0.87541773 0.04645308 -0.9130124 ] [ 0.18241827 -0.15180506 0.97143131 -0.25873532] [ 0. 0. 0. 1. ]] SLAMing on 11.304839173 meters Centerline goodness : 0.795457 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.92, Z:-0.27 [[ 0.86013674 -0.45669067 -0.22715286 -0.72300223] [ 0.4781998 0.87695881 0.04762568 -0.92429473] [ 0.1774535 -0.14958905 0.97269387 -0.27108649] [ 0. 0. 0. 1. ]] SLAMing on 11.334839172999999 meters Centerline goodness : 0.796516 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:-0.28 [[ 0.86384204 -0.45148637 -0.22346588 -0.75396243] [ 0.47254268 0.87995312 0.0488459 -0.93036037] [ 0.17458624 -0.14779231 0.97348707 -0.28325866] [ 0. 0. 0. 1. ]] SLAMing on 11.364839173 meters Centerline goodness : 0.796361 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.93, Z:-0.29 [[ 0.8634324 -0.45028257 -0.22744251 -0.77015231] [ 0.47137941 0.88073914 0.04582599 -0.93299787] [ 0.17968287 -0.14677936 0.97271264 -0.28718271] [ 0. 0. 0. 1. ]] SLAMing on 11.394839173 meters Centerline goodness : 0.799287 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.92, Z:-0.29 [[ 0.86190101 -0.45422943 -0.2253936 -0.77521995] [ 0.47444406 0.87926877 0.04229963 -0.92401095] [ 0.17896782 -0.14339475 0.9733491 -0.28882222] [ 0. 0. 0. 1. ]] SLAMing on 11.424839173 meters Centerline goodness : 0.798012 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.92, Z:-0.29 [[ 0.85947428 -0.4599478 -0.22305151 -0.7758924 ] [ 0.47897991 0.87704103 0.03711169 -0.92009282] [ 0.17855588 -0.13873373 0.97409997 -0.2897955 ] [ 0. 0. 0. 1. ]] SLAMing on 11.454839173 meters Centerline goodness : 0.796812 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.91, Z:-0.29 [[ 0.85728843 -0.46495599 -0.22107118 -0.77437231] [ 0.48288397 0.87509699 0.03206773 -0.91222235] [ 0.17854865 -0.13424302 0.97473032 -0.29391267] [ 0. 0. 0. 1. ]] SLAMing on 11.484839173 meters Centerline goodness : 0.796783 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.91, Z:-0.29 [[ 0.85683459 -0.46617582 -0.22026026 -0.77630138] [ 0.48374596 0.87467358 0.03059381 -0.90908427] [ 0.17839374 -0.13276384 0.97496125 -0.294214 ] [ 0. 0. 0. 1. ]] SLAMing on 11.514839173 meters Centerline goodness : 0.797825 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.85836086 -0.46326172 -0.22046591 -0.77955963] [ 0.48097272 0.87616814 0.03153772 -0.90262733] [ 0.17855499 -0.13310883 0.97488469 -0.2957705 ] [ 0. 0. 0. 1. ]] SLAMing on 11.544839173 meters Centerline goodness : 0.798323 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.85971716 -0.46017118 -0.22165035 -0.78057589] [ 0.47839856 0.87749227 0.03379557 -0.90006482] [ 0.17894472 -0.13509184 0.97454039 -0.29652561] [ 0. 0. 0. 1. ]] SLAMing on 11.574839172999999 meters Centerline goodness : 0.797610 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.86085046 -0.45733235 -0.22312238 -0.78123797] [ 0.47614358 0.87862433 0.03614647 -0.89778199] [ 0.1795098 -0.137355 0.97412003 -0.2968097 ] [ 0. 0. 0. 1. ]] SLAMing on 11.604839173 meters Centerline goodness : 0.798497 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.89, Z:-0.30 [[ 0.86170129 -0.45498621 -0.22462956 -0.78285724] [ 0.47427497 0.87956439 0.03781197 -0.8937086 ] [ 0.18037224 -0.1391188 0.97371033 -0.29647062] [ 0. 0. 0. 1. ]] SLAMing on 11.634839173 meters Centerline goodness : 0.798470 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.89, Z:-0.30 [[ 0.86299278 -0.45189469 -0.22590848 -0.78543225] [ 0.47176483 0.88080399 0.04027736 -0.89205968] [ 0.18077997 -0.14133475 0.97331552 -0.29530571] [ 0. 0. 0. 1. ]] SLAMing on 11.664839172999999 meters Centerline goodness : 0.799938 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.89, Z:-0.29 [[ 0.86568809 -0.44522953 -0.22881171 -0.78980198] [ 0.46634145 0.88344274 0.04532741 -0.88762352] [ 0.18196094 -0.14594378 0.97241484 -0.29352872] [ 0. 0. 0. 1. ]] SLAMing on 11.694839173 meters Centerline goodness : 0.798972 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86440293 -0.44257585 -0.23860887 -0.79502084] [ 0.46403666 0.88492694 0.03967726 -0.88936986] [ 0.19359122 -0.14502041 0.97030486 -0.29046242] [ 0. 0. 0. 1. ]] SLAMing on 11.724839173 meters Centerline goodness : 0.797937 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86444247 -0.44249815 -0.23860972 -0.79522135] [ 0.46398209 0.88494997 0.03980181 -0.8894277 ] [ 0.19354544 -0.14511701 0.97029955 -0.29040168] [ 0. 0. 0. 1. ]] SLAMing on 11.754839173 meters Centerline goodness : 0.798811 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86449935 -0.44226889 -0.23882861 -0.79582587] [ 0.46390865 0.88495944 0.04044193 -0.89062959] [ 0.19346742 -0.14575668 0.97021923 -0.28920681] [ 0. 0. 0. 1. ]] SLAMing on 11.784839173 meters Centerline goodness : 0.799288 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86552886 -0.4389478 -0.2412149 -0.79684114] [ 0.4615613 0.8860241 0.04384597 -0.8904192 ] [ 0.19447612 -0.14928541 0.96948074 -0.28668326] [ 0. 0. 0. 1. ]] SLAMing on 11.814839173 meters Centerline goodness : 0.798031 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86331438 -0.43853181 -0.24975613 -0.79953312] [ 0.46053835 0.88696765 0.03453709 -0.88934819] [ 0.20638 -0.14483864 0.96769265 -0.28523672] [ 0. 0. 0. 1. ]] SLAMing on 11.844839173 meters Centerline goodness : 0.798248 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.28 [[ 0.86075737 -0.43793109 -0.25944771 -0.80214343] [ 0.4598922 0.88754433 0.02764466 -0.89272418] [ 0.21816488 -0.14311332 0.96536141 -0.28263313] [ 0. 0. 0. 1. ]] SLAMing on 11.874839173 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86216049 -0.43363384 -0.26199425 -0.80087204] [ 0.45691955 0.88892003 0.03233724 -0.89589898] [ 0.21886942 -0.14759018 0.96452751 -0.2810758 ] [ 0. 0. 0. 1. ]] SLAMing on 11.904839173 meters Centerline goodness : 0.797843 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86195292 -0.43359107 -0.26274693 -0.79979325] [ 0.45710661 0.88880577 0.03283055 -0.8966796 ] [ 0.21929595 -0.14840175 0.96430608 -0.28022805] [ 0. 0. 0. 1. ]] SLAMing on 11.934839173 meters Centerline goodness : 0.798523 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86194895 -0.43359644 -0.26275108 -0.80028126] [ 0.45715735 0.88877242 0.03302647 -0.89723407] [ 0.21920575 -0.14858572 0.96429825 -0.27966077] [ 0. 0. 0. 1. ]] SLAMing on 11.964839173 meters Centerline goodness : 0.800874 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.90, Z:-0.28 [[ 0.86516841 -0.42503623 -0.26613499 -0.80588871] [ 0.45057277 0.891823 0.04044653 -0.89653291] [ 0.22015406 -0.15490623 0.96308683 -0.27581959] [ 0. 0. 0. 1. ]] SLAMing on 11.994839172999999 meters Centerline goodness : 0.800393 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.90, Z:-0.27 [[ 0.86445155 -0.42127311 -0.27432188 -0.81228637] [ 0.44655383 0.89410576 0.03412573 -0.89560096] [ 0.23089652 -0.15199953 0.96103223 -0.27433186] [ 0. 0. 0. 1. ]] SLAMing on 12.024839173 meters Centerline goodness : 0.799627 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.86479409 -0.41670956 -0.28015053 -0.82561535] [ 0.44154026 0.89676983 0.02908739 -0.89349981] [ 0.23910955 -0.14885234 0.9595153 -0.27260971] [ 0. 0. 0. 1. ]] SLAMing on 12.054839173 meters Centerline goodness : 0.799246 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.86168934 -0.41559995 -0.29114972 -0.82923327] [ 0.44074682 0.89732219 0.02356099 -0.89229737] [ 0.25146316 -0.14862557 0.95638733 -0.2703025 ] [ 0. 0. 0. 1. ]] SLAMing on 12.084839172999999 meters Centerline goodness : 0.796678 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.85733899 -0.41721792 -0.30149471 -0.83034706] [ 0.44177531 0.89700122 0.01494623 -0.88702798] [ 0.26420529 -0.14600691 0.9533507 -0.2705864 ] [ 0. 0. 0. 1. ]] SLAMing on 12.114839173 meters Centerline goodness : 0.796709 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.85733022 -0.41707189 -0.30172162 -0.82882312] [ 0.44168334 0.89704504 0.01503441 -0.88720027] [ 0.26438745 -0.14615486 0.95327752 -0.27135955] [ 0. 0. 0. 1. ]] SLAMing on 12.144839173 meters Centerline goodness : 0.798397 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.89, Z:-0.27 [[ 0.86190309 -0.40725668 -0.30210108 -0.83884681] [ 0.43338056 0.90094486 0.02190074 -0.88633095] [ 0.26325719 -0.14980105 0.95302429 -0.27002133] [ 0. 0. 0. 1. ]] SLAMing on 12.174839173 meters Centerline goodness : 0.799343 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.89, Z:-0.27 [[ 0.86513746 -0.39784084 -0.30538474 -0.83877884] [ 0.42611108 0.90419949 0.02919982 -0.88625559] [ 0.26451185 -0.15538968 0.95178124 -0.27007877] [ 0. 0. 0. 1. ]] SLAMing on 12.204839173 meters Centerline goodness : 0.799830 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.88, Z:-0.27 [[ 0.86702736 -0.39383598 -0.30521595 -0.84451027] [ 0.42212759 0.90603892 0.03002939 -0.87833349] [ 0.26471088 -0.15487637 0.95180957 -0.27138561] [ 0. 0. 0. 1. ]] SLAMing on 12.234839173 meters Centerline goodness : 0.799515 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.88, Z:-0.27 [[ 0.8660402 -0.3951065 -0.30637434 -0.84284407] [ 0.42354531 0.90538978 0.02964308 -0.87637608] [ 0.26567602 -0.15543552 0.95144945 -0.27029329] [ 0. 0. 0. 1. ]] SLAMing on 12.264839173 meters Centerline goodness : 0.799379 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.87, Z:-0.27 [[ 0.86332546 -0.39891704 -0.30908632 -0.8373353 ] [ 0.42763085 0.90350911 0.02833973 -0.87240496] [ 0.26795711 -0.15664125 0.95061165 -0.26871783] [ 0. 0. 0. 1. ]] SLAMing on 12.294839173 meters Centerline goodness : 0.799136 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.87, Z:-0.27 [[ 0.86277723 -0.39944567 -0.30993322 -0.83356374] [ 0.42817206 0.90327017 0.02777936 -0.87020149] [ 0.26885708 -0.15667214 0.95035241 -0.27020484] [ 0. 0. 0. 1. ]] SLAMing on 12.324839172999999 meters Centerline goodness : 0.796315 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86496238 -0.39473049 -0.30988371 -0.83184853] [ 0.42336743 0.90551674 0.02827459 -0.8634342 ] [ 0.26944405 -0.15565113 0.95035395 -0.2769236 ] [ 0. 0. 0. 1. ]] SLAMing on 12.354839173 meters Centerline goodness : 0.796259 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86627057 -0.39143641 -0.31040753 -0.83369598] [ 0.42034592 0.90688549 0.02946221 -0.85788056] [ 0.2699715 -0.15600078 0.95014691 -0.2787492 ] [ 0. 0. 0. 1. ]] SLAMing on 12.384839173 meters Centerline goodness : 0.796259 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86627057 -0.39143641 -0.31040753 -0.83369598] [ 0.42034592 0.90688549 0.02946221 -0.85788056] [ 0.2699715 -0.15600078 0.95014691 -0.2787492 ] [ 0. 0. 0. 1. ]] SLAMing on 12.414839172999999 meters Centerline goodness : 0.796019 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.85, Z:-0.28 [[ 0.86645433 -0.39055311 -0.31100668 -0.83909129] [ 0.4194894 0.90728595 0.02934041 -0.84646271] [ 0.27071301 -0.15588613 0.94995473 -0.27897134] [ 0. 0. 0. 1. ]] SLAMing on 12.444839173 meters Centerline goodness : 0.796781 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.84, Z:-0.28 [[ 0.86923915 -0.39314088 -0.29977249 -0.83795935] [ 0.42101407 0.90649056 0.03196897 -0.83767857] [ 0.25917262 -0.15399712 0.95347493 -0.28350178] [ 0. 0. 0. 1. ]] SLAMing on 12.474839173 meters Centerline goodness : 0.798567 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.82, Z:-0.29 [[ 0.87542905 -0.38655418 -0.29017209 -0.84249174] [ 0.41441009 0.9092552 0.03897765 -0.8216267 ] [ 0.24877351 -0.15437241 0.95618037 -0.28845901] [ 0. 0. 0. 1. ]] SLAMing on 12.504839173 meters Centerline goodness : 0.799598 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.82, Z:-0.29 [[ 0.87682576 -0.38313747 -0.29048625 -0.84447761] [ 0.41116074 0.91068813 0.03992471 -0.81614288] [ 0.24924573 -0.15444356 0.95604589 -0.2905677 ] [ 0. 0. 0. 1. ]] SLAMing on 12.534839173 meters Centerline goodness : 0.797151 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.80, Z:-0.30 [[ 0.87866742 -0.38688643 -0.27975429 -0.84251767] [ 0.41219495 0.91039965 0.03560628 -0.7981233 ] [ 0.24091262 -0.14659938 0.95941114 -0.29735344] [ 0. 0. 0. 1. ]] SLAMing on 12.564839173 meters Centerline goodness : 0.797489 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.79, Z:-0.30 [[ 0.88072355 -0.38968741 -0.26920206 -0.84026374] [ 0.41431677 0.90928686 0.03923034 -0.78894169] [ 0.22949433 -0.14608601 0.96228438 -0.30209902] [ 0. 0. 0. 1. ]] SLAMing on 12.594839173 meters Centerline goodness : 0.797350 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.78, Z:-0.30 [[ 0.87908999 -0.39182312 -0.2714322 -0.83852205] [ 0.4168049 0.90816139 0.038943 -0.78117122] [ 0.23124547 -0.14736867 0.96166938 -0.30102726] [ 0. 0. 0. 1. ]] SLAMing on 12.624839173 meters Centerline goodness : 0.788333 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.78, Z:-0.30 [[ 0.87731891 -0.39445676 -0.27334116 -0.83383818] [ 0.41977664 0.90680109 0.03872144 -0.77755889] [ 0.23259213 -0.14871329 0.96113748 -0.3009497 ] [ 0. 0. 0. 1. ]] SLAMing on 12.654839173 meters Centerline goodness : 0.797846 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.77, Z:-0.30 [[ 0.87524192 -0.4075299 -0.26052055 -0.83021142] [ 0.43015048 0.90211848 0.0339531 -0.77149269] [ 0.2211835 -0.14178021 0.9648711 -0.30100849] [ 0. 0. 0. 1. ]] SLAMing on 12.684839173 meters Centerline goodness : 0.795373 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.77, Z:-0.30 [[ 0.87483578 -0.40788403 -0.26132924 -0.82741915] [ 0.43070367 0.90184374 0.03423775 -0.77196613] [ 0.22171311 -0.14250787 0.96464232 -0.30129483] [ 0. 0. 0. 1. ]] SLAMing on 12.714839173 meters Centerline goodness : 0.795150 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.77, Z:-0.30 [[ 0.87450486 -0.40827772 -0.2618216 -0.82331934] [ 0.4309959 0.90173484 0.03341879 -0.77010799] [ 0.22244951 -0.14206893 0.96453752 -0.30415407] [ 0. 0. 0. 1. ]] SLAMing on 12.744839172999999 meters Centerline goodness : 0.798512 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.76, Z:-0.31 [[ 0.87407361 -0.40998783 -0.26058646 -0.82311456] [ 0.43186575 0.90142718 0.03034803 -0.7649959 ] [ 0.22245739 -0.13906478 0.96497342 -0.30742073] [ 0. 0. 0. 1. ]] SLAMing on 12.774839173 meters Centerline goodness : 0.826217 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.81, Z:-0.29 [[ 0.87312803 -0.46750468 -0.13815508 -1.08171642] [ 0.46349616 0.88393418 -0.06190053 -0.80652047] [ 0.15105878 -0.00998726 0.98847433 -0.2922603 ] [ 0. 0. 0. 1. ]] SLAMing on 12.804839173 meters Centerline goodness : 0.713522 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.97, Z:0.30 [[ 0.84265962 -0.52222554 0.13116881 -2.26958527] [ 0.50413602 0.67962735 -0.53287291 0.97009001] [ 0.18913393 0.5151574 0.83596723 0.30239308] [ 0. 0. 0. 1. ]] SLAMing on 12.834839172999999 meters Centerline goodness : 0.796158 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.85, Z:0.21 [[ 5.19858931e-02 9.33402356e-01 3.55045785e-01 -2.52258414e+00] [-9.89972389e-01 1.40664311e-03 1.41253993e-01 -8.52531958e-01] [ 1.31347387e-01 -3.58828739e-01 9.24115686e-01 2.06526461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864839173 meters Centerline goodness : 0.794679 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.89, Z:0.59 [[ 0.98142532 -0.10794773 0.15859268 -1.84516132] [ 0.17912405 0.81162439 -0.55603995 0.89303884] [-0.06869443 0.57411945 0.81588475 0.58851949] [ 0. 0. 0. 1. ]] SLAMing on 12.894839173 meters Centerline goodness : 0.795541 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.89, Z:0.58 [[ 0.98350357 -0.10598193 0.14658975 -1.84104632] [ 0.1700923 0.81761765 -0.55006362 0.89034224] [-0.06155756 0.56592332 0.82215659 0.58106611] [ 0. 0. 0. 1. ]] SLAMing on 12.924839173 meters Centerline goodness : 0.791066 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.90, Z:0.58 [[ 0.98544255 -0.10430785 0.13424921 -1.83897916] [ 0.1615435 0.8205805 -0.54822562 0.89593457] [-0.05297804 0.56193194 0.8254852 0.57700804] [ 0. 0. 0. 1. ]] SLAMing on 12.954839173 meters Centerline goodness : 0.794299 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.89, Z:0.57 [[ 0.989603 -0.09245235 0.11017467 -1.84067849] [ 0.13741281 0.8339527 -0.53445357 0.88691042] [-0.04246898 0.54403627 0.83798623 0.57468145] [ 0. 0. 0. 1. ]] SLAMing on 12.984839173 meters Centerline goodness : 0.797399 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.89, Z:0.57 [[ 0.99178411 -0.08575839 0.09491984 -1.8335535 ] [ 0.12314959 0.84087693 -0.52702957 0.88584445] [-0.03461869 0.53438889 0.84452949 0.57009183] [ 0. 0. 0. 1. ]] SLAMing on 13.014839173 meters Centerline goodness : 0.783695 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.90, Z:0.57 [[ 0.99279313 -0.08096417 0.08835504 -1.82121581] [ 0.11522929 0.84747325 -0.51818077 0.8972544 ] [-0.03292446 0.52462739 0.85069506 0.57346234] [ 0. 0. 0. 1. ]] SLAMing on 13.044839173 meters Centerline goodness : 0.794520 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.89, Z:0.57 [[ 0.99447611 -0.07463384 0.07380414 -1.82600543] [ 0.10163981 0.860266 -0.49961161 0.8935765 ] [-0.02620326 0.50435325 0.86309976 0.56917679] [ 0. 0. 0. 1. ]] SLAMing on 13.074839172999999 meters Centerline goodness : 0.791739 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.90, Z:0.57 [[ 9.98307312e-01 -4.96688985e-02 3.02574263e-02 -1.95508509e+00] [ 5.81506677e-02 8.61435869e-01 -5.04526257e-01 8.95722877e-01] [-1.00556884e-03 5.05431740e-01 8.62866006e-01 5.70771502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104839173 meters Centerline goodness : 0.794449 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.87, Z:0.61 [[ 0.99798093 -0.03720665 0.05147556 -1.80843339] [ 0.05791348 0.86583334 -0.49696947 0.86523772] [-0.02607869 0.49894718 0.86623993 0.61355009] [ 0. 0. 0. 1. ]] SLAMing on 13.134839173 meters Centerline goodness : 0.810773 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.86, Z:0.60 [[ 0.99777945 -0.04395138 0.05004452 -1.82713619] [ 0.06228375 0.88192537 -0.46725622 0.85535803] [-0.02359898 0.46933561 0.88270447 0.59545318] [ 0. 0. 0. 1. ]] SLAMing on 13.164839172999999 meters Centerline goodness : 0.800186 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.85, Z:0.59 [[ 0.9980915 -0.04574681 0.04147996 -1.82112374] [ 0.05952749 0.89143816 -0.44921541 0.84947645] [-0.01642665 0.45082728 0.89246004 0.58870036] [ 0. 0. 0. 1. ]] SLAMing on 13.194839173 meters Centerline goodness : 0.795176 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.84, Z:0.58 [[ 0.99843392 -0.04647297 0.03114429 -1.8352495 ] [ 0.05530348 0.90390073 -0.4241521 0.84249 ] [-0.00843974 0.42521023 0.90505526 0.58020849] [ 0. 0. 0. 1. ]] SLAMing on 13.224839173 meters Centerline goodness : 0.791938 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.84, Z:0.58 [[ 0.998672 -0.04199411 0.02984528 -1.8440553 ] [ 0.05041909 0.91573034 -0.39861743 0.83703296] [-0.01059064 0.39959284 0.91663155 0.57758612] [ 0. 0. 0. 1. ]] SLAMing on 13.254839172999999 meters Centerline goodness : 0.795811 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.83, Z:0.57 [[ 0.99868298 -0.04234631 0.02896723 -1.85761547] [ 0.05009717 0.92669708 -0.37245508 0.82872928] [-0.01107175 0.37341573 0.92759803 0.57038116] [ 0. 0. 0. 1. ]] SLAMing on 13.284839173 meters Centerline goodness : 0.798699 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.83, Z:0.57 [[ 0.99896907 -0.04151091 0.01837504 -1.84891416] [ 0.04533156 0.93374 -0.35506993 0.82719012] [-0.00241824 0.35553685 0.93465914 0.56984644] [ 0. 0. 0. 1. ]] SLAMing on 13.314839173 meters Centerline goodness : 0.793416 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.83, Z:0.57 [[ 0.99912586 -0.04103317 0.00798694 -1.84641291] [ 0.04131766 0.9402911 -0.33785426 0.82958496] [ 0.00635318 0.33788893 0.94116455 0.56785595] [ 0. 0. 0. 1. ]] SLAMing on 13.344839173 meters Centerline goodness : 0.769731 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.83, Z:0.57 [[ 0.99912935 -0.04157277 0.00350061 -1.83671768] [ 0.04043985 0.94443346 -0.32620554 0.827067 ] [ 0.01025518 0.32606309 0.94529238 0.57033047] [ 0. 0. 0. 1. ]] SLAMing on 13.374839173 meters Centerline goodness : 0.764579 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.80, Z:0.54 [[ 0.99939878 -0.03242537 0.01227471 -1.82325942] [ 0.03449334 0.96566966 -0.25747296 0.80229311] [-0.00350466 0.25774155 0.96620754 0.53587797] [ 0. 0. 0. 1. ]] SLAMing on 13.404839173 meters Centerline goodness : 0.789817 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.78, Z:0.54 [[ 9.99928525e-01 -1.19159608e-02 -9.76853367e-04 -1.95595712e+00] [ 1.12995562e-02 9.68572491e-01 -2.48474645e-01 7.78072835e-01] [ 3.90696743e-03 2.48445848e-01 9.68637908e-01 5.37768985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434839173 meters Centerline goodness : 0.792042 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.77, Z:0.53 [[ 0.99991301 -0.01217916 -0.00506416 -1.98587527] [ 0.0107533 0.97504795 -0.22173374 0.77399448] [ 0.00763833 0.22166 0.9750941 0.5305244 ] [ 0. 0. 0. 1. ]] SLAMing on 13.464839173 meters Centerline goodness : 0.767130 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.80, Z:0.54 [[ 0.99971789 -0.01586366 -0.01767747 -1.91812781] [ 0.01121263 0.97131303 -0.23754003 0.80220998] [ 0.02093861 0.23727481 0.97121689 0.53830012] [ 0. 0. 0. 1. ]] SLAMing on 13.494839172999999 meters Centerline goodness : 0.791619 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.57, Z:0.68 [[ 9.83850136e-01 5.54924039e-02 -1.70174917e-01 -2.26849086e+00] [ 2.44997412e-04 9.50310498e-01 3.11303544e-01 5.66164691e-01] [ 1.78993992e-01 -3.06317727e-01 9.34949518e-01 6.81165975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524839173 meters Centerline goodness : 0.799929 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.57, Z:0.68 [[ 0.98447986 0.06097299 -0.16456521 -2.32276886] [-0.01167966 0.95839045 0.28522154 0.56928445] [ 0.17510853 -0.27887279 0.94422824 0.67532321] [ 0. 0. 0. 1. ]] SLAMing on 13.554839173 meters Centerline goodness : 0.804693 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.59, Z:0.69 [[ 0.98436877 0.05951256 -0.16576002 -2.31981585] [-0.01526537 0.9664673 0.25633558 0.58924607] [ 0.17545682 -0.24979835 0.9522687 0.68569724] [ 0. 0. 0. 1. ]] SLAMing on 13.584839172999999 meters Centerline goodness : 0.804957 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.61, Z:0.69 [[ 0.9845733 0.06222865 -0.16353291 -2.32251641] [-0.02427906 0.97416675 0.22452099 0.61258798] [ 0.17327996 -0.21708695 0.96064942 0.68875702] [ 0. 0. 0. 1. ]] SLAMing on 13.614839173 meters Centerline goodness : 0.801509 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.63, Z:0.69 [[ 0.98410771 0.06162752 -0.16653548 -2.32452053] [-0.02645238 0.97825841 0.20569579 0.62610279] [ 0.17559125 -0.19802155 0.96434184 0.69029561] [ 0. 0. 0. 1. ]] SLAMing on 13.644839173 meters Centerline goodness : 0.809521 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.64, Z:0.69 [[ 0.98456365 0.05634875 -0.16570827 -2.33100165] [-0.02502068 0.98234762 0.1853837 0.64195076] [ 0.17322926 -0.17837592 0.96859365 0.68808027] [ 0. 0. 0. 1. ]] SLAMing on 13.674839173 meters Centerline goodness : 0.816425 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.66, Z:0.69 [[ 0.98464539 0.0522904 -0.16655083 -2.31352822] [-0.02429629 0.98584695 0.1658779 0.65739267] [ 0.17286745 -0.15928434 0.97198012 0.69451491] [ 0. 0. 0. 1. ]] SLAMing on 13.704839173 meters Centerline goodness : 0.819296 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.67, Z:0.69 [[ 0.98518796 0.05120977 -0.16365279 -2.32105337] [-0.02632626 0.98822165 0.1507478 0.6687938 ] [ 0.16944499 -0.14420655 0.97493224 0.69221815] [ 0. 0. 0. 1. ]] SLAMing on 13.734839173 meters Centerline goodness : 0.811078 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.68, Z:0.69 [[ 0.98548712 0.04933908 -0.16242164 -2.32201864] [-0.02535202 0.9888754 0.14656983 0.67577263] [ 0.16784638 -0.14032497 0.97577482 0.69083429] [ 0. 0. 0. 1. ]] SLAMing on 13.764839173 meters Centerline goodness : 0.814733 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.69, Z:0.70 [[ 0.98554117 0.05227998 -0.16116887 -2.30072988] [-0.03111407 0.99087307 0.13115823 0.69041714] [ 0.16655484 -0.12424722 0.97817284 0.69686948] [ 0. 0. 0. 1. ]] SLAMing on 13.794839173 meters Centerline goodness : 0.808842 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.70, Z:0.70 [[ 0.98530193 0.05085273 -0.16307698 -2.29835205] [-0.03047065 0.99167186 0.12513375 0.7006702 ] [ 0.16808224 -0.11832546 0.97864572 0.70145621] [ 0. 0. 0. 1. ]] SLAMing on 13.824839172999999 meters Centerline goodness : 0.806168 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.71, Z:0.70 [[ 0.98517635 0.04993784 -0.1641151 -2.29628281] [-0.03017627 0.99222155 0.12077165 0.71142117] [ 0.16886961 -0.11402899 0.97902014 0.70261925] [ 0. 0. 0. 1. ]] SLAMing on 13.854839173 meters Centerline goodness : 0.434219 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.57, Z:0.66 [[ 0.97736589 0.06604944 -0.20098108 -2.21461131] [-0.00520681 0.95723616 0.28926084 0.56750152] [ 0.21149188 -0.2816672 0.93591387 0.65556852] [ 0. 0. 0. 1. ]] SLAMing on 13.884839173 meters Centerline goodness : 0.647183 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.55, Z:0.69 [[ 0.96374175 0.05350758 -0.26141687 -2.21453834] [ 0.03158395 0.94992702 0.31087155 0.54735445] [ 0.26496093 -0.30785647 0.91379434 0.69301416] [ 0. 0. 0. 1. ]] SLAMing on 13.914839172999999 meters Centerline goodness : 0.879480 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.13, Z:1.42 [[ 0.90235596 -0.31287385 -0.29641806 -2.04065073] [ 0.11194525 0.83429727 -0.5398299 1.12874688] [ 0.41619944 0.45393613 0.78785786 1.42294805] [ 0. 0. 0. 1. ]] SLAMing on 13.944839173 meters Centerline goodness : 0.679039 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.93, Z:1.07 [[ 0.99913601 -0.03842403 -0.01583751 -2.51565208] [ 0.0339965 0.97482913 -0.22034611 0.93088054] [ 0.02390545 0.21961732 0.97529317 1.06856827] [ 0. 0. 0. 1. ]] SLAMing on 13.974839173 meters Centerline goodness : 0.831261 Centerline is valid? [False, False] Translation: X:-2.68, Y:1.19, Z:1.43 [[ 0.92022433 0.12886424 0.36956892 -2.6801654 ] [ 0.20464545 0.64646885 -0.73498181 1.18669658] [-0.33362767 0.75197875 0.56852488 1.43408965] [ 0. 0. 0. 1. ]] SLAMing on 14.004839172999999 meters Centerline goodness : 0.812095 Centerline is valid? [False, False] Translation: X:-2.76, Y:1.17, Z:1.44 [[ 0.92150989 0.11294581 0.37156799 -2.76146863] [ 0.20080452 0.68037222 -0.70481997 1.17216857] [-0.332411 0.7241111 0.6042897 1.44005786] [ 0. 0. 0. 1. ]] SLAMing on 14.034839173 meters Centerline goodness : 0.811436 Centerline is valid? [False, False] Translation: X:-2.82, Y:1.16, Z:1.45 [[ 0.9256 0.10052957 0.36490881 -2.81856445] [ 0.19305787 0.70385742 -0.68360324 1.1577139 ] [-0.32556612 0.70319168 0.6320824 1.44564637] [ 0. 0. 0. 1. ]] SLAMing on 14.064839173 meters Centerline goodness : 0.724062 Centerline is valid? [False, False] Translation: X:-2.96, Y:1.12, Z:1.46 [[ 0.96552415 -0.01953597 0.25957938 -2.96196617] [ 0.17506274 0.78673355 -0.59194878 1.11517315] [-0.19265552 0.61698353 0.76303026 1.46036607] [ 0. 0. 0. 1. ]] SLAMing on 14.094839173 meters Centerline goodness : 0.804165 Centerline is valid? [False, False] Translation: X:-2.89, Y:1.12, Z:1.50 [[ 0.94739526 0.05234204 0.31575708 -2.88696052] [ 0.17152796 0.7498758 -0.63895575 1.12362875] [-0.27022284 0.65950481 0.70145065 1.50053636] [ 0. 0. 0. 1. ]] SLAMing on 14.124839173 meters Centerline goodness : 0.824744 Centerline is valid? [False, False] Translation: X:-2.96, Y:1.09, Z:1.49 [[ 9.66552156e-01 -1.66290754e-03 2.56464743e-01 -2.95670217e+00] [ 1.55425733e-01 7.99231464e-01 -5.80578942e-01 1.08966985e+00] [-2.04009243e-01 6.01021049e-01 7.72757354e-01 1.48857015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154839173 meters Centerline goodness : 0.693926 Centerline is valid? [False, False] Translation: X:-3.02, Y:1.07, Z:1.48 [[ 0.96935494 -0.02971921 0.24386016 -3.01504709] [ 0.1598554 0.83005938 -0.53427304 1.06923631] [-0.18654024 0.55688257 0.80937293 1.47602493] [ 0. 0. 0. 1. ]] SLAMing on 14.184839173 meters Centerline goodness : 0.687041 Centerline is valid? [False, False] Translation: X:-3.17, Y:1.04, Z:1.42 [[ 0.9582605 -0.07640979 0.27549657 -3.16964928] [ 0.19991439 0.86795318 -0.45463338 1.04087606] [-0.20437968 0.49073294 0.84700067 1.41957718] [ 0. 0. 0. 1. ]] SLAMing on 14.214839173 meters Centerline goodness : 0.822521 Centerline is valid? [False, False] Translation: X:-2.17, Y:-1.18, Z:1.22 [[ 0.80474807 0.20401225 -0.55745811 -2.16880233] [ 0.25907841 0.72422061 0.63904842 -1.18134946] [ 0.53409636 -0.65869834 0.52995997 1.21835829] [ 0. 0. 0. 1. ]] SLAMing on 14.244839172999999 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-2.10, Y:-1.09, Z:1.27 [[ 0.82990168 0.16406344 -0.5332414 -2.0963758 ] [ 0.23525861 0.76374343 0.60112341 -1.09169688] [ 0.505882 -0.62432296 0.59523462 1.2692497 ] [ 0. 0. 0. 1. ]] SLAMing on 14.274839173 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-2.10, Y:-1.07, Z:1.27 [[ 0.83080706 0.14243804 -0.53802513 -2.09507094] [ 0.23488795 0.78665229 0.5709692 -1.06557552] [ 0.50456643 -0.60074086 0.62009929 1.27310765] [ 0. 0. 0. 1. ]] SLAMing on 14.304839173 meters Centerline goodness : 0.786670 Centerline is valid? [False, False] Translation: X:-2.16, Y:-1.08, Z:1.19 [[ 0.85696246 0.12322835 -0.50042993 -2.15560628] [ 0.22736694 0.78100028 0.58167245 -1.08426464] [ 0.46251445 -0.61225268 0.64126987 1.19339796] [ 0. 0. 0. 1. ]] SLAMing on 14.334839172999999 meters Centerline goodness : 0.761092 Centerline is valid? [False, False] Translation: X:-2.19, Y:-1.09, Z:1.14 [[ 0.87071262 0.11544952 -0.4780491 -2.18668628] [ 0.22352832 0.77294168 0.59379815 -1.09265902] [ 0.43805779 -0.62388506 0.64720384 1.1385985 ] [ 0. 0. 0. 1. ]] SLAMing on 14.364839173 meters Centerline goodness : 0.787931 Centerline is valid? [False, False] Translation: X:-2.22, Y:-1.08, Z:1.11 [[ 0.88030036 0.09528892 -0.46474864 -2.22493531] [ 0.22205177 0.78293442 0.58112537 -1.07995271] [ 0.41924252 -0.61476313 0.66805838 1.11446693] [ 0. 0. 0. 1. ]] SLAMing on 14.394839173 meters Centerline goodness : 0.796333 Centerline is valid? [False, False] Translation: X:-2.25, Y:-1.07, Z:1.10 [[ 0.88654024 0.07858633 -0.45592827 -2.25484236] [ 0.22167652 0.79282782 0.56770024 -1.06657285] [ 0.4060861 -0.6043577 0.68545302 1.10109116] [ 0. 0. 0. 1. ]] SLAMing on 14.424839172999999 meters Centerline goodness : 0.741550 Centerline is valid? [False, False] Translation: X:-2.27, Y:-1.06, Z:1.09 [[ 0.89030567 0.06935867 -0.4500502 -2.27491833] [ 0.22108435 0.79819076 0.56036883 -1.06063102] [ 0.39809235 -0.5983986 0.69529964 1.09454228] [ 0. 0. 0. 1. ]] SLAMing on 14.454839173 meters Centerline goodness : 0.779461 Centerline is valid? [False, False] Translation: X:-2.30, Y:-1.04, Z:1.09 [[ 0.89362591 0.05059357 -0.44595182 -2.29618801] [ 0.22383964 0.8109874 0.54055088 -1.04355879] [ 0.3890097 -0.58287197 0.71339451 1.09238608] [ 0. 0. 0. 1. ]] SLAMing on 14.484839173 meters Centerline goodness : 0.755717 Centerline is valid? [False, False] Translation: X:-2.31, Y:-1.02, Z:1.09 [[ 0.89363778 0.03999158 -0.44700356 -2.30670491] [ 0.22678929 0.81924872 0.52668602 -1.02041903] [ 0.3872701 -0.57204214 0.72304195 1.0937683 ] [ 0. 0. 0. 1. ]] SLAMing on 14.514839173 meters Centerline goodness : 0.686059 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.99, Z:1.10 [[ 0.89450481 0.0291512 -0.44610689 -2.29949474] [ 0.22480497 0.8332016 0.50521066 -0.98972213] [ 0.38642448 -0.55220041 0.7387495 1.09836649] [ 0. 0. 0. 1. ]] SLAMing on 14.544839173 meters Centerline goodness : 0.688273 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.97, Z:1.11 [[ 0.89578896 0.01647445 -0.44417421 -2.29195224] [ 0.22418231 0.84614802 0.48350368 -0.96752705] [ 0.38380258 -0.53269326 0.75427678 1.10633088] [ 0. 0. 0. 1. ]] SLAMing on 14.574839172999999 meters Centerline goodness : 0.712211 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.95, Z:1.11 [[ 8.96214838e-01 8.11766312e-04 -4.43619550e-01 -2.29439912e+00] [ 2.25478445e-01 8.60363382e-01 4.57093340e-01 -9.47494609e-01] [ 3.82045069e-01 -5.09680480e-01 7.70887394e-01 1.10679612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604839173 meters Centerline goodness : 0.749270 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.93, Z:1.11 [[ 0.89847164 -0.01316576 -0.43883412 -2.29516799] [ 0.22518534 0.87187376 0.43488817 -0.927652 ] [ 0.37688232 -0.48955369 0.78631858 1.10800124] [ 0. 0. 0. 1. ]] SLAMing on 14.634839173 meters Centerline goodness : 0.671758 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.91, Z:1.10 [[ 0.90071489 -0.02414896 -0.433739 -2.30482471] [ 0.22514432 0.87984195 0.41855487 -0.90920697] [ 0.3715141 -0.47465247 0.79792375 1.10206715] [ 0. 0. 0. 1. ]] SLAMing on 14.664839172999999 meters Centerline goodness : 0.754971 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.90, Z:1.10 [[ 0.90108556 -0.03383613 -0.43231924 -2.31413232] [ 0.22526101 0.88841062 0.39998006 -0.89693433] [ 0.37054322 -0.45780093 0.80815594 1.09929603] [ 0. 0. 0. 1. ]] SLAMing on 14.694839173 meters Centerline goodness : 0.759608 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.88, Z:1.10 [[ 0.90065615 -0.04202912 -0.43249514 -2.32439499] [ 0.22511999 0.89645685 0.38168849 -0.88148386] [ 0.3716712 -0.44113338 0.81686098 1.09635061] [ 0. 0. 0. 1. ]] SLAMing on 14.724839173 meters Centerline goodness : 0.759942 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.87, Z:1.09 [[ 0.90104195 -0.05022318 -0.4308144 -2.33565544] [ 0.22454247 0.90382175 0.36426216 -0.8703721 ] [ 0.37108502 -0.42495161 0.82565854 1.09394879] [ 0. 0. 0. 1. ]] SLAMing on 14.754839172999999 meters Centerline goodness : 0.760961 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.86, Z:1.09 [[ 0.90117715 -0.06135233 -0.42908697 -2.34617118] [ 0.23037128 0.90633517 0.35423952 -0.85512486] [ 0.36716319 -0.41808188 0.83090236 1.09371036] [ 0. 0. 0. 1. ]] SLAMing on 14.784839173 meters Centerline goodness : 0.762394 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.85, Z:1.09 [[ 0.90444637 -0.07142301 -0.42056572 -2.35982662] [ 0.23061587 0.91126455 0.34119385 -0.85038373] [ 0.35887754 -0.40558066 0.84066119 1.08900226] [ 0. 0. 0. 1. ]] SLAMing on 14.814839173 meters Centerline goodness : 0.760120 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.84, Z:1.08 [[ 0.90906066 -0.08226236 -0.40846251 -2.38149705] [ 0.22856424 0.91810855 0.32378244 -0.84380457] [ 0.34837781 -0.3876978 0.8534186 1.08336648] [ 0. 0. 0. 1. ]] SLAMing on 14.844839173 meters Centerline goodness : 0.762428 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.83, Z:1.08 [[ 0.91093995 -0.08511543 -0.40366295 -2.39675589] [ 0.22321126 0.92457662 0.30876334 -0.8328175 ] [ 0.3469368 -0.37136697 0.8612325 1.08115989] [ 0. 0. 0. 1. ]] SLAMing on 14.874839173 meters Centerline goodness : 0.761883 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.83, Z:1.08 [[ 0.91133597 -0.08696745 -0.40237223 -2.40530085] [ 0.21896589 0.93009815 0.29490909 -0.82521642] [ 0.34859818 -0.35686706 0.8666748 1.08038517] [ 0. 0. 0. 1. ]] SLAMing on 14.904839173 meters Centerline goodness : 0.760107 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.82, Z:1.08 [[ 0.91030191 -0.08723118 -0.40464942 -2.41236232] [ 0.21492607 0.93505272 0.28192765 -0.81793338] [ 0.35377566 -0.34360899 0.86992853 1.08094629] [ 0. 0. 0. 1. ]] SLAMing on 14.934839173 meters Centerline goodness : 0.759230 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.81, Z:1.08 [[ 0.90992305 -0.0829844 -0.40639098 -2.42241957] [ 0.20428732 0.94236625 0.26497647 -0.81476386] [ 0.36098023 -0.32412873 0.87443344 1.07577973] [ 0. 0. 0. 1. ]] SLAMing on 14.964839173 meters Centerline goodness : 0.757020 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.81, Z:1.07 [[ 0.91052523 -0.08757075 -0.40407321 -2.42830827] [ 0.20182955 0.94709773 0.24954101 -0.81199034] [ 0.36084433 -0.3087673 0.88003075 1.07346711] [ 0. 0. 0. 1. ]] SLAMing on 14.994839172999999 meters Centerline goodness : 0.756866 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.81, Z:1.07 [[ 0.91390077 -0.09277093 -0.39519482 -2.44175508] [ 0.19917553 0.95077136 0.2374088 -0.80896721] [ 0.35371528 -0.29568122 0.88738837 1.06773336] [ 0. 0. 0. 1. ]] SLAMing on 15.024839173 meters Centerline goodness : 0.755653 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.81, Z:1.06 [[ 0.9160669 -0.1004207 -0.38824878 -2.45150485] [ 0.20138825 0.95240678 0.22883203 -0.80665416] [ 0.3467913 -0.28781419 0.89269188 1.06377303] [ 0. 0. 0. 1. ]] SLAMing on 15.054839173 meters Centerline goodness : 0.755067 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.81, Z:1.06 [[ 0.91879063 -0.10714382 -0.37992628 -2.4636144 ] [ 0.20207294 0.95445288 0.21951361 -0.80787548] [ 0.33910221 -0.27845987 0.89859323 1.06019806] [ 0. 0. 0. 1. ]] SLAMing on 15.084839172999999 meters Centerline goodness : 0.757394 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.81, Z:1.06 [[ 0.9185803 -0.11227978 -0.37895051 -2.47062137] [ 0.20573666 0.95449456 0.21589943 -0.80737615] [ 0.33746506 -0.27628498 0.89987996 1.06305096] [ 0. 0. 0. 1. ]] SLAMing on 15.114839173 meters Centerline goodness : 0.757471 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.81, Z:1.06 [[ 0.92019417 -0.11278717 -0.37486229 -2.47914327] [ 0.2047386 0.9548463 0.215292 -0.80680535] [ 0.3336537 -0.27485922 0.90173589 1.06071946] [ 0. 0. 0. 1. ]] SLAMing on 15.144839173 meters Centerline goodness : 0.759682 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.80, Z:1.06 [[ 0.91827592 -0.11267541 -0.37957026 -2.49098042] [ 0.20271103 0.95727337 0.20624241 -0.80386577] [ 0.34011406 -0.26633052 0.90188164 1.0612444 ] [ 0. 0. 0. 1. ]] SLAMing on 15.174839172999999 meters Centerline goodness : 0.760436 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.80, Z:1.06 [[ 0.91632521 -0.11713677 -0.38291917 -2.49800581] [ 0.20279368 0.96030936 0.19152197 -0.80257212] [ 0.3452866 -0.25314999 0.90371027 1.06289882] [ 0. 0. 0. 1. ]] SLAMing on 15.204839173 meters Centerline goodness : 0.755487 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.81, Z:1.06 [[ 0.9178198 -0.1200151 -0.37842198 -2.50489267] [ 0.1977132 0.96477329 0.17355686 -0.81028572] [ 0.34426197 -0.23411295 0.9092166 1.05910401] [ 0. 0. 0. 1. ]] SLAMing on 15.234839173 meters Centerline goodness : 0.754653 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.81, Z:1.05 [[ 0.92055611 -0.12054684 -0.37154394 -2.51279712] [ 0.193141 0.96724647 0.16471434 -0.8147085 ] [ 0.33951877 -0.22338916 0.91368719 1.05382573] [ 0. 0. 0. 1. ]] SLAMing on 15.264839173 meters Centerline goodness : 0.756451 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.82, Z:1.05 [[ 0.9223772 -0.1212251 -0.3667762 -2.51702858] [ 0.19208866 0.96770811 0.16322674 -0.82084352] [ 0.33514512 -0.22101017 0.91587786 1.05025084] [ 0. 0. 0. 1. ]] SLAMing on 15.294839173 meters Centerline goodness : 0.760446 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.83, Z:1.05 [[ 0.92423845 -0.12365506 -0.36123774 -2.52421103] [ 0.19204006 0.96827444 0.15989131 -0.82536342] [ 0.3300059 -0.21714981 0.91866319 1.04717597] [ 0. 0. 0. 1. ]] SLAMing on 15.324839172999999 meters Centerline goodness : 0.754719 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.83, Z:1.05 [[ 0.92383064 -0.12844042 -0.3606106 -2.52600409] [ 0.19577863 0.96803686 0.15676531 -0.83229284] [ 0.32894935 -0.21542445 0.91944801 1.05063202] [ 0. 0. 0. 1. ]] SLAMing on 15.354839173 meters Centerline goodness : 0.755692 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.84, Z:1.05 [[ 0.9261734 -0.13052019 -0.35378992 -2.53134197] [ 0.19453884 0.96908361 0.15176161 -0.8385756 ] [ 0.32304407 -0.20938345 0.92293071 1.04539167] [ 0. 0. 0. 1. ]] SLAMing on 15.384839173 meters Centerline goodness : 0.754418 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.84, Z:1.04 [[ 0.92738027 -0.13354249 -0.34947423 -2.53277251] [ 0.19545174 0.96944963 0.14820941 -0.84230701] [ 0.31900541 -0.20575183 0.92514957 1.04116498] [ 0. 0. 0. 1. ]] SLAMing on 15.414839172999999 meters Centerline goodness : 0.755171 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.85, Z:1.03 [[ 0.92938282 -0.1368385 -0.34281598 -2.53583371] [ 0.19507681 0.97053289 0.14146007 -0.84880648] [ 0.313357 -0.198346 0.92869061 1.03494795] [ 0. 0. 0. 1. ]] SLAMing on 15.444839173 meters Centerline goodness : 0.759370 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.86, Z:1.03 [[ 0.93258879 -0.13757376 -0.33369388 -2.54569695] [ 0.19085204 0.97265122 0.13238238 -0.85942697] [ 0.30635542 -0.18714448 0.93333986 1.02949094] [ 0. 0. 0. 1. ]] SLAMing on 15.474839173 meters Centerline goodness : 0.760397 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.86, Z:1.03 [[ 0.93446316 -0.13757485 -0.32840792 -2.55092746] [ 0.18902076 0.97331519 0.13011029 -0.86487644] [ 0.30174451 -0.18365919 0.93553169 1.02595846] [ 0. 0. 0. 1. ]] SLAMing on 15.504839172999999 meters Centerline goodness : 0.761918 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.87, Z:1.03 [[ 0.93468771 -0.13636189 -0.32827475 -2.55098205] [ 0.18820454 0.97327563 0.13158113 -0.87066525] [ 0.30155916 -0.18477006 0.9353727 1.02711488] [ 0. 0. 0. 1. ]] SLAMing on 15.534839173 meters Centerline goodness : 0.762830 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.87, Z:1.03 [[ 0.93478487 -0.1362156 -0.32805876 -2.5528945 ] [ 0.18806877 0.97327627 0.13177038 -0.87280571] [ 0.30134262 -0.18487457 0.93542184 1.02883081] [ 0. 0. 0. 1. ]] SLAMing on 15.564839173 meters Centerline goodness : 0.767601 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.88, Z:1.03 [[ 0.93747733 -0.13313519 -0.32157624 -2.56231247] [ 0.18297888 0.97448578 0.12998536 -0.88197445] [ 0.29606585 -0.18069999 0.93791925 1.02718709] [ 0. 0. 0. 1. ]] SLAMing on 15.594839173 meters Centerline goodness : 0.769930 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.89, Z:1.03 [[ 0.93894892 -0.13152858 -0.31792319 -2.56685869] [ 0.1806737 0.97487637 0.13028077 -0.88661344] [ 0.29280017 -0.17976735 0.93912287 1.02524318] [ 0. 0. 0. 1. ]] SLAMing on 15.624839173 meters Centerline goodness : 0.771168 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.89, Z:1.03 [[ 0.94013086 -0.13242291 -0.31403524 -2.56689793] [ 0.17908875 0.97590869 0.1246172 -0.89094395] [ 0.28996755 -0.17339666 0.94119733 1.02814952] [ 0. 0. 0. 1. ]] SLAMing on 15.654839173 meters Centerline goodness : 0.770982 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.90, Z:1.03 [[ 0.94001552 -0.13573905 -0.31296282 -2.56554316] [ 0.18158818 0.97575081 0.12221332 -0.89566103] [ 0.2887846 -0.17171277 0.94186951 1.02756715] [ 0. 0. 0. 1. ]] SLAMing on 15.684839173 meters Centerline goodness : 0.772451 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.91, Z:1.02 [[ 0.94139707 -0.13996098 -0.30689166 -2.56881038] [ 0.18309951 0.9761708 0.11646948 -0.90859883] [ 0.28327749 -0.16583574 0.94459111 1.02369874] [ 0. 0. 0. 1. ]] SLAMing on 15.714839173 meters Centerline goodness : 0.775751 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.92, Z:1.02 [[ 0.94157611 -0.14312078 -0.30487845 -2.57158294] [ 0.18542981 0.97596106 0.11452422 -0.91552068] [ 0.2811587 -0.16436683 0.94548048 1.02456712] [ 0. 0. 0. 1. ]] SLAMing on 15.744839172999999 meters Centerline goodness : 0.778242 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.92, Z:1.03 [[ 0.94447267 -0.15293784 -0.29082881 -2.59795799] [ 0.18869787 0.9770313 0.09900989 -0.92286487] [ 0.2690065 -0.14839091 0.9516384 1.03134447] [ 0. 0. 0. 1. ]] SLAMing on 15.774839173 meters Centerline goodness : 0.781955 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.92, Z:1.03 [[ 0.94758751 -0.15819868 -0.27758078 -2.6043758 ] [ 0.19250606 0.9760979 0.10086772 -0.9221018 ] [ 0.25498888 -0.14901698 0.95539239 1.0312496 ] [ 0. 0. 0. 1. ]] SLAMing on 15.804839173 meters Centerline goodness : 0.786470 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.92, Z:1.04 [[ 0.94776997 -0.1668046 -0.27186082 -2.62012186] [ 0.19844306 0.97567315 0.0931786 -0.92399804] [ 0.24970468 -0.14226077 0.95781493 1.04146209] [ 0. 0. 0. 1. ]] SLAMing on 15.834839172999999 meters Centerline goodness : 0.785263 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.92, Z:1.04 [[ 0.94966724 -0.17851324 -0.25742021 -2.6215465 ] [ 0.20670032 0.97455269 0.08672962 -0.92313559] [ 0.23538717 -0.13557312 0.96239951 1.03699663] [ 0. 0. 0. 1. ]] SLAMing on 15.864839173 meters Centerline goodness : 0.783480 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94932749 -0.19546955 -0.24610766 -2.63298395] [ 0.2166279 0.97429727 0.06178342 -0.92818535] [ 0.22770525 -0.11196648 0.96727133 1.0337565 ] [ 0. 0. 0. 1. ]] SLAMing on 15.894839173 meters Centerline goodness : 0.777955 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94956754 -0.21354029 -0.22961278 -2.63341059] [ 0.23102482 0.97156531 0.05184958 -0.93269079] [ 0.21201183 -0.10228093 0.97189999 1.0290023 ] [ 0. 0. 0. 1. ]] SLAMing on 15.924839172999999 meters Centerline goodness : 0.796112 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94872403 -0.21589423 -0.23089478 -2.62887644] [ 0.23439147 0.97055136 0.05559409 -0.93448172] [ 0.2120928 -0.10686322 0.97138916 1.02746442] [ 0. 0. 0. 1. ]] SLAMing on 15.954839173 meters Centerline goodness : 0.774584 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.93, Z:1.03 [[ 0.95019701 -0.22878744 -0.21161744 -2.64320769] [ 0.24313153 0.96899085 0.04408857 -0.93380874] [ 0.19496845 -0.0933437 0.97635765 1.02993302] [ 0. 0. 0. 1. ]] SLAMing on 15.984839173 meters Centerline goodness : 0.775443 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.02 [[ 0.95130694 -0.23882019 -0.19488463 -2.64387611] [ 0.25050821 0.96739412 0.03733977 -0.9376701 ] [ 0.17961276 -0.08434178 0.98011516 1.02289632] [ 0. 0. 0. 1. ]] SLAMing on 16.014839173 meters Centerline goodness : 0.773891 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95243622 -0.24568962 -0.1802827 -2.64130509] [ 0.25575899 0.96612321 0.03454398 -0.944099 ] [ 0.1656882 -0.07900986 0.98300807 1.01410467] [ 0. 0. 0. 1. ]] SLAMing on 16.044839173 meters Centerline goodness : 0.770635 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95388359 -0.25032263 -0.16566433 -2.6442978 ] [ 0.25904987 0.96530003 0.0330003 -0.94380085] [ 0.15165506 -0.07439376 0.98562991 1.01027028] [ 0. 0. 0. 1. ]] SLAMing on 16.074839173 meters Centerline goodness : 0.781524 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95397926 -0.25019103 -0.16531187 -2.64445966] [ 0.25884711 0.96536388 0.03272232 -0.94253754] [ 0.15139928 -0.07400692 0.98569835 1.00937952] [ 0. 0. 0. 1. ]] SLAMing on 16.104839173 meters Centerline goodness : 0.757824 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.94, Z:1.01 [[ 0.9550173 -0.2465886 -0.16473012 -2.64604849] [ 0.25548044 0.96618662 0.03483054 -0.9439192 ] [ 0.15057122 -0.07534909 0.9857235 1.00899791] [ 0. 0. 0. 1. ]] SLAMing on 16.134839173 meters Centerline goodness : 0.756869 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.94, Z:1.01 [[ 0.95539898 -0.25213329 -0.15375824 -2.64656908] [ 0.26027364 0.96490029 0.0350009 -0.93996991] [ 0.13953648 -0.07345904 0.9874884 1.00848018] [ 0. 0. 0. 1. ]] SLAMing on 16.164839173 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.95, Z:1.00 [[ 0.95761379 -0.24968749 -0.14363836 -2.64187181] [ 0.25793044 0.96526516 0.04165401 -0.94751885] [ 0.12824862 -0.07693716 0.98875324 1.00147763] [ 0. 0. 0. 1. ]] SLAMing on 16.194839173 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.95, Z:1.00 [[ 0.95761379 -0.24968749 -0.14363836 -2.64187181] [ 0.25793044 0.96526516 0.04165401 -0.94751885] [ 0.12824862 -0.07693716 0.98875324 1.00147763] [ 0. 0. 0. 1. ]] SLAMing on 16.224839173 meters Centerline goodness : 0.776447 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.96, Z:1.00 [[ 0.95972954 -0.24304078 -0.14089141 -2.6473545 ] [ 0.25131143 0.96690767 0.04395586 -0.95670882] [ 0.12554592 -0.07759336 0.98904878 1.00067807] [ 0. 0. 0. 1. ]] SLAMing on 16.254839173 meters Centerline goodness : 0.781133 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.96000337 -0.24780939 -0.13032282 -2.64307813] [ 0.25566272 0.96561403 0.04718169 -0.95759328] [ 0.11414948 -0.07861326 0.99034835 0.99568977] [ 0. 0. 0. 1. ]] SLAMing on 16.284839172999998 meters Centerline goodness : 0.780872 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.95935496 -0.24969585 -0.1314916 -2.64075204] [ 0.25786682 0.96493633 0.04901619 -0.96065722] [ 0.11464188 -0.08093125 0.99010473 0.99763087] [ 0. 0. 0. 1. ]] SLAMing on 16.314839173 meters Centerline goodness : 0.789852 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.95782897 -0.25526589 -0.13192042 -2.63739679] [ 0.26332779 0.9635368 0.0474901 -0.96495792] [ 0.11498758 -0.0802257 0.99012206 0.99906148] [ 0. 0. 0. 1. ]] SLAMing on 16.344839173 meters Centerline goodness : 0.801279 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.97, Z:1.00 [[ 0.95806804 -0.25391182 -0.13279461 -2.63491282] [ 0.2624019 0.96363015 0.05061795 -0.97048285] [ 0.1151124 -0.083341 0.9898502 0.99909309] [ 0. 0. 0. 1. ]] SLAMing on 16.374839172999998 meters Centerline goodness : 0.791599 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.97, Z:1.00 [[ 0.95786879 -0.25541555 -0.1313403 -2.63530928] [ 0.26351343 0.96345064 0.04820317 -0.97389784] [ 0.11422806 -0.08078225 0.99016472 0.99818557] [ 0. 0. 0. 1. ]] SLAMing on 16.404839173 meters Centerline goodness : 0.790085 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.97, Z:0.99 [[ 0.95751928 -0.25941001 -0.12594951 -2.62178 ] [ 0.26762265 0.96206048 0.05308255 -0.97243519] [ 0.1074009 -0.08453451 0.99061545 0.99106485] [ 0. 0. 0. 1. ]] SLAMing on 16.434839173 meters Centerline goodness : 0.775232 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.00, Z:0.97 [[ 0.95544314 -0.25930904 -0.1410221 -2.66691372] [ 0.27096291 0.95999876 0.07057966 -0.99755319] [ 0.1170791 -0.10564661 0.98748736 0.96782361] [ 0. 0. 0. 1. ]] SLAMing on 16.464839172999998 meters Centerline goodness : 0.845466 Centerline is valid? [False, False] Translation: X:-4.10, Y:0.79, Z:1.55 [[ 0.71964314 0.05024598 0.69252371 -4.10021129] [ 0.34710968 0.83777293 -0.42148712 0.79474973] [-0.60135565 0.54370199 0.58545668 1.54901902] [ 0. 0. 0. 1. ]] SLAMing on 16.494839173 meters Centerline goodness : 0.806909 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.04, Z:1.89 [[-0.71548341 -0.11618563 0.68890086 -4.81546268] [-0.56223575 -0.48956335 -0.66649733 -0.04115692] [ 0.41469802 -0.86419247 0.28495074 1.88697193] [ 0. 0. 0. 1. ]] SLAMing on 16.524839173 meters Centerline goodness : 0.626107 Centerline is valid? [False, False] Translation: X:-3.72, Y:-0.42, Z:1.21 [[ 0.71674198 -0.69719622 -0.01408418 -3.72352807] [ 0.42038244 0.415877 0.80642726 -0.4195881 ] [-0.55638075 -0.58392101 0.59116556 1.21185052] [ 0. 0. 0. 1. ]] SLAMing on 16.554839173 meters Centerline goodness : 0.654319 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.03, Z:1.17 [[ 0.74468938 -0.55744838 0.36700004 -3.97565532] [ 0.3748539 0.80430576 0.46106052 -0.03408523] [-0.55219768 -0.20577548 0.80791966 1.1651605 ] [ 0. 0. 0. 1. ]] SLAMing on 16.584839173 meters Centerline goodness : 0.801571 Centerline is valid? [False, False] Translation: X:-3.83, Y:0.24, Z:1.45 [[ 0.77638942 -0.48002316 0.40840817 -3.83380442] [ 0.40472886 0.87646845 0.2607635 0.24210951] [-0.4831294 -0.03715945 0.87476006 1.44912141] [ 0. 0. 0. 1. ]] SLAMing on 16.614839173 meters Centerline goodness : 0.753301 Centerline is valid? [False, False] Translation: X:-3.91, Y:0.24, Z:1.49 [[ 0.78257127 -0.47404339 0.40356545 -3.91330451] [ 0.4252819 0.88046832 0.20954914 0.24048636] [-0.45466198 0.00764195 0.89063129 1.49356449] [ 0. 0. 0. 1. ]] SLAMing on 16.644839173 meters Centerline goodness : 0.778662 Centerline is valid? [False, False] Translation: X:-3.85, Y:0.21, Z:1.48 [[ 0.76330369 -0.53026235 0.36903837 -3.85273209] [ 0.44750593 0.8459706 0.28995206 0.21163317] [-0.46594627 -0.05617461 0.88302802 1.47969436] [ 0. 0. 0. 1. ]] SLAMing on 16.674839173 meters Centerline goodness : 0.772731 Centerline is valid? [False, False] Translation: X:-3.76, Y:0.43, Z:1.67 [[ 0.81151002 -0.39940066 0.42653323 -3.75572427] [ 0.46447242 0.88380863 -0.05610413 0.43236599] [-0.35456572 0.24364198 0.90273015 1.66843716] [ 0. 0. 0. 1. ]] SLAMing on 16.704839173 meters Centerline goodness : 0.761304 Centerline is valid? [False, False] Translation: X:-3.65, Y:0.46, Z:1.67 [[ 0.80991777 -0.45232742 0.37340743 -3.6502239 ] [ 0.49027424 0.8715345 -0.00766688 0.45612372] [-0.32196952 0.18928158 0.92763576 1.66756696] [ 0. 0. 0. 1. ]] SLAMing on 16.734839173 meters Centerline goodness : 0.783241 Centerline is valid? [False, False] Translation: X:-3.68, Y:0.36, Z:1.75 [[ 0.87799087 -0.3960091 0.26890302 -3.67788506] [ 0.4221683 0.90539734 -0.04505093 0.3601571 ] [-0.2256235 0.15307664 0.96211308 1.74549932] [ 0. 0. 0. 1. ]] SLAMing on 16.764839173 meters Centerline goodness : 0.936198 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.62, Z:2.04 [[ 0.91698468 -0.30359648 -0.25878229 -3.29138665] [ 0.35377479 0.31911537 0.87920918 -0.61613825] [-0.1843434 -0.897772 0.40002869 2.04006901] [ 0. 0. 0. 1. ]] SLAMing on 16.794839173 meters Centerline goodness : 0.983077 Centerline is valid? [False, True] Translation: X:-4.21, Y:0.07, Z:2.18 [[ 0.86384553 -0.47436774 0.1695469 -4.21013877] [ 0.50151669 0.84153646 -0.2007421 0.07234751] [-0.04745432 0.25844076 0.96486085 2.17545016] [ 0. 0. 0. 1. ]] SLAMing on 16.824839173 meters Centerline goodness : 0.860588 Centerline is valid? [True, False] Translation: X:-3.82, Y:-0.11, Z:1.91 [[ 0.99864975 -0.01074506 -0.05082537 -3.81705831] [ 0.00719479 0.99755416 -0.0695265 -0.11367505] [ 0.05144813 0.06906694 0.99628452 1.9121899 ] [ 0. 0. 0. 1. ]] SLAMing on 16.854839173 meters Centerline goodness : 0.997780 Centerline is valid? [False, True] Translation: X:-4.45, Y:-0.64, Z:1.44 [[ 0.91304466 -0.30189343 0.27424406 -4.44918066] [ 0.03166753 0.72284171 0.69028764 -0.64381575] [-0.40662835 -0.62157881 0.66954699 1.44390721] [ 0. 0. 0. 1. ]] SLAMing on 16.884839173 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:-4.34, Y:0.61, Z:1.68 [[ 0.90707371 -0.1173192 0.40429381 -4.33999653] [ 0.12259615 0.99237263 0.01291294 0.61279372] [-0.40272504 0.03785187 0.91453801 1.68227941] [ 0. 0. 0. 1. ]] SLAMing on 16.914839173 meters Centerline goodness : 0.811849 Centerline is valid? [True, False] Translation: X:-4.49, Y:0.82, Z:1.25 [[ 0.67051318 -0.02934047 0.74131722 -4.48534129] [ 0.42483678 0.83435364 -0.3512374 0.81565502] [-0.60821525 0.55044813 0.57191002 1.24927366] [ 0. 0. 0. 1. ]] SLAMing on 16.944839173 meters Centerline goodness : 0.867644 Centerline is valid? [False, False] Translation: X:-4.12, Y:1.03, Z:0.79 [[ 0.86658857 -0.06725066 0.49447103 -4.11810674] [ 0.27487117 0.89133899 -0.36050055 1.0331066 ] [-0.41649741 0.44832148 0.79090945 0.78794682] [ 0. 0. 0. 1. ]] SLAMing on 16.974839173 meters Centerline goodness : 0.780977 Centerline is valid? [False, False] Translation: X:-4.14, Y:0.91, Z:0.94 [[ 0.87683805 -0.30533854 0.37138041 -4.14427333] [ 0.39793428 0.89440463 -0.20417801 0.90534353] [-0.26982094 0.32681605 0.90575269 0.93666143] [ 0. 0. 0. 1. ]] SLAMing on 17.004839173 meters Centerline goodness : 0.762124 Centerline is valid? [False, False] Translation: X:-4.10, Y:0.88, Z:0.85 [[ 0.84299454 -0.33092357 0.42408701 -4.10204055] [ 0.39637991 0.9151125 -0.07383816 0.88189586] [-0.36365254 0.23034474 0.9026063 0.8535703 ] [ 0. 0. 0. 1. ]] SLAMing on 17.034839172999998 meters Centerline goodness : 0.786554 Centerline is valid? [False, False] Translation: X:-4.24, Y:0.68, Z:1.16 [[ 0.92229362 -0.31393806 0.22542709 -4.2395683 ] [ 0.31790166 0.94792362 0.01947691 0.67638599] [-0.2198022 0.05370021 0.97406534 1.15853686] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters Centerline goodness : 0.779226 Centerline is valid? [False, False] Translation: X:-4.26, Y:0.64, Z:1.18 [[ 0.94210442 -0.29308885 0.16290544 -4.26397967] [ 0.29609589 0.95513899 0.00606077 0.64136785] [-0.15737368 0.04252576 0.98662307 1.18119509] [ 0. 0. 0. 1. ]] SLAMing on 17.094839173 meters Centerline goodness : 0.780103 Centerline is valid? [False, False] Translation: X:-4.23, Y:0.64, Z:1.24 [[ 0.95365328 -0.26338441 0.14551315 -4.23162501] [ 0.27057666 0.96217607 -0.03170942 0.64246109] [-0.13165751 0.06961225 0.98884803 1.23616649] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters Centerline goodness : 0.775463 Centerline is valid? [False, False] Translation: X:-4.29, Y:0.68, Z:1.20 [[ 0.93698742 -0.31461468 0.15189528 -4.28554774] [ 0.32162258 0.94657972 -0.02336109 0.6847425 ] [-0.13643125 0.070742 0.98812048 1.2016189 ] [ 0. 0. 0. 1. ]] SLAMing on 17.154839173 meters Centerline goodness : 0.787497 Centerline is valid? [False, False] Translation: X:-4.25, Y:0.66, Z:1.20 [[ 9.29684140e-01 -3.51054913e-01 1.11569920e-01 -4.25473876e+00] [ 3.48896213e-01 9.36350977e-01 3.89651133e-02 6.63976976e-01] [-1.18147498e-01 2.70107479e-03 9.92992383e-01 1.20306455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184839173 meters Centerline goodness : 0.777447 Centerline is valid? [False, False] Translation: X:-4.31, Y:0.63, Z:1.25 [[ 0.93890723 -0.32374373 0.11680415 -4.30649169] [ 0.32879376 0.94403306 -0.02638651 0.63323159] [-0.10172451 0.06317896 0.99280438 1.25381452] [ 0. 0. 0. 1. ]] SLAMing on 17.214839172999998 meters Centerline goodness : 0.778410 Centerline is valid? [False, False] Translation: X:-4.31, Y:0.63, Z:1.26 [[ 0.94358573 -0.31727699 0.09476966 -4.31267253] [ 0.32125488 0.94652483 -0.02976655 0.62966143] [-0.08025759 0.0585325 0.9950541 1.26300482] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters Centerline goodness : 0.766237 Centerline is valid? [False, False] Translation: X:-4.35, Y:0.62, Z:1.26 [[ 0.9452556 -0.31346871 0.09071506 -4.35471414] [ 0.31682387 0.94815653 -0.0249367 0.61877423] [-0.0781952 0.05231226 0.99556463 1.26004637] [ 0. 0. 0. 1. ]] SLAMing on 17.274839173 meters Centerline goodness : 0.675736 Centerline is valid? [False, False] Translation: X:-4.37, Y:0.65, Z:1.27 [[ 0.94625892 -0.31187803 0.08559297 -4.36894074] [ 0.31796876 0.94550838 -0.07006976 0.6519416 ] [-0.05907565 0.09352002 0.99386321 1.27315445] [ 0. 0. 0. 1. ]] SLAMing on 17.304839173 meters Centerline goodness : 0.719956 Centerline is valid? [False, False] Translation: X:-4.38, Y:0.65, Z:1.33 [[ 0.95576869 -0.29404335 0.00668669 -4.38410534] [ 0.29295637 0.94972359 -0.11046118 0.64597713] [ 0.02612987 0.10753424 0.99385795 1.32531156] [ 0. 0. 0. 1. ]] SLAMing on 17.334839173 meters Centerline goodness : 0.759020 Centerline is valid? [False, False] Translation: X:-4.30, Y:0.64, Z:1.34 [[ 9.45106138e-01 -3.08772079e-01 -1.06930774e-01 -4.30176841e+00] [ 3.07139526e-01 9.51132054e-01 -3.18296639e-02 6.39825572e-01] [ 1.11533398e-01 -2.76025649e-03 9.93756853e-01 1.33901127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364839173 meters Centerline goodness : 0.755011 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.67, Z:1.36 [[ 0.94116088 -0.3125207 -0.12863518 -4.21043657] [ 0.31229862 0.94971944 -0.02241796 0.67282825] [ 0.12917341 -0.01907368 0.99143856 1.36123927] [ 0. 0. 0. 1. ]] SLAMing on 17.394839173 meters Centerline goodness : 0.780544 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.69, Z:1.37 [[ 0.93803397 -0.33482633 -0.08935104 -4.19875365] [ 0.33515164 0.94209048 -0.01178583 0.68766593] [ 0.08812297 -0.01889064 0.99593046 1.37416156] [ 0. 0. 0. 1. ]] SLAMing on 17.424839173 meters Centerline goodness : 0.767797 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.69, Z:1.38 [[ 0.93885662 -0.32810899 -0.1043683 -4.20115994] [ 0.32924239 0.94422187 -0.00667145 0.68676793] [ 0.1007358 -0.02809893 0.99451634 1.37828175] [ 0. 0. 0. 1. ]] SLAMing on 17.454839173 meters Centerline goodness : 0.764385 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.69, Z:1.38 [[ 0.93990849 -0.32291069 -0.11090861 -4.21234431] [ 0.32378458 0.94607213 -0.01053956 0.68517526] [ 0.10833088 -0.02600428 0.99377472 1.38432992] [ 0. 0. 0. 1. ]] SLAMing on 17.484839173 meters Centerline goodness : 0.777372 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.70, Z:1.38 [[ 0.94039275 -0.32020601 -0.1145844 -4.2085326 ] [ 0.32155604 0.94686463 -0.00700602 0.69657571] [ 0.11073928 -0.0302569 0.99338881 1.38343881] [ 0. 0. 0. 1. ]] SLAMing on 17.514839173 meters Centerline goodness : 0.777576 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.70, Z:1.38 [[ 0.93970916 -0.32237731 -0.11410331 -4.20497787] [ 0.32340337 0.94620926 -0.00991463 0.70237338] [ 0.11116186 -0.02758453 0.99341941 1.37780855] [ 0. 0. 0. 1. ]] SLAMing on 17.544839173 meters Centerline goodness : 0.777613 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.70, Z:1.38 [[ 0.93789383 -0.32690902 -0.11612779 -4.19821626] [ 0.32789239 0.94465013 -0.01107745 0.70477895] [ 0.11332145 -0.02768794 0.99317251 1.37671731] [ 0. 0. 0. 1. ]] SLAMing on 17.574839173 meters Centerline goodness : 0.771298 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.71, Z:1.38 [[ 0.93596994 -0.33130108 -0.11916316 -4.19127471] [ 0.33233389 0.94308946 -0.01168169 0.71147006] [ 0.11625167 -0.02866825 0.99280596 1.37598491] [ 0. 0. 0. 1. ]] SLAMing on 17.604839173 meters Centerline goodness : 0.767043 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.73, Z:1.39 [[ 0.93331106 -0.33310259 -0.13406391 -4.18662429] [ 0.33329737 0.94257299 -0.02165673 0.72516098] [ 0.13357894 -0.02447068 0.99073602 1.38554545] [ 0. 0. 0. 1. ]] SLAMing on 17.634839173 meters Centerline goodness : 0.770361 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.73, Z:1.37 [[ 0.93274456 -0.33738118 -0.12712794 -4.20297999] [ 0.33894081 0.94075645 -0.00981949 0.72630183] [ 0.12290935 -0.03392977 0.99183772 1.36716053] [ 0. 0. 0. 1. ]] SLAMing on 17.664839173 meters Centerline goodness : 0.741772 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.76, Z:1.39 [[ 0.9282801 -0.33922545 -0.15238818 -4.17760087] [ 0.33647949 0.94064995 -0.04426321 0.76135616] [ 0.15835915 -0.01018684 0.98732903 1.38500333] [ 0. 0. 0. 1. ]] SLAMing on 17.694839173 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.73, Z:1.44 [[ 0.93673763 -0.32230333 -0.13654003 -4.19100233] [ 0.31688888 0.94654424 -0.06029452 0.73285667] [ 0.1486743 0.01321213 0.98879795 1.44117331] [ 0. 0. 0. 1. ]] SLAMing on 17.724839173 meters Centerline goodness : 0.781880 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.73, Z:1.44 [[ 0.93670854 -0.32217672 -0.13703749 -4.18911446] [ 0.31672213 0.94658647 -0.06050747 0.73389166] [ 0.14921193 0.01327506 0.98871612 1.43989031] [ 0. 0. 0. 1. ]] SLAMing on 17.754839173 meters Centerline goodness : 0.775443 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.74, Z:1.44 [[ 0.93706159 -0.32039788 -0.13878318 -4.18619669] [ 0.31531101 0.94722582 -0.05781185 0.73566769] [ 0.14998181 0.0104134 0.98863392 1.43860093] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters Centerline goodness : 0.776863 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.74, Z:1.44 [[ 0.93754988 -0.32503802 -0.12389713 -4.19024699] [ 0.31978286 0.94554231 -0.06073438 0.74288259] [ 0.13689097 0.01732133 0.99043467 1.43670747] [ 0. 0. 0. 1. ]] SLAMing on 17.814839173 meters Centerline goodness : 0.783597 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.74, Z:1.44 [[ 0.93859298 -0.3214885 -0.12525317 -4.18951209] [ 0.31664418 0.94680701 -0.05738424 0.74328699] [ 0.13703895 0.01419975 0.99046388 1.43632397] [ 0. 0. 0. 1. ]] SLAMing on 17.844839173 meters Centerline goodness : 0.777935 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.74, Z:1.43 [[ 0.9387091 -0.32083368 -0.12605943 -4.1866274 ] [ 0.3161007 0.94704425 -0.05645822 0.74407803] [ 0.13749756 0.01315037 0.99041481 1.43410094] [ 0. 0. 0. 1. ]] SLAMing on 17.874839172999998 meters Centerline goodness : 0.762054 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.75, Z:1.43 [[ 0.93878124 -0.319673 -0.12844828 -4.18141528] [ 0.31522991 0.94747195 -0.05410175 0.74816116] [ 0.13899601 0.01029897 0.99023939 1.43149375] [ 0. 0. 0. 1. ]] SLAMing on 17.904839173 meters Centerline goodness : 0.775466 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.75, Z:1.43 [[ 0.93987145 -0.31550696 -0.13075555 -4.17842499] [ 0.31167074 0.94890642 -0.04937577 0.74718514] [ 0.13965318 0.0056542 0.99018434 1.42965121] [ 0. 0. 0. 1. ]] SLAMing on 17.934839173 meters Centerline goodness : 0.774037 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.75, Z:1.43 [[ 9.39171637e-01 -3.16749247e-01 -1.32765021e-01 -4.17510845e+00] [ 3.13053287e-01 9.48501307e-01 -4.84036126e-02 7.51654855e-01] [ 1.41259604e-01 3.89677373e-03 9.89964918e-01 1.42978152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964839172999998 meters Centerline goodness : 0.767045 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.75, Z:1.43 [[ 9.38033861e-01 -3.19166284e-01 -1.35001325e-01 -4.17022925e+00] [ 3.15657412e-01 9.47697230e-01 -4.72266672e-02 7.52222497e-01] [ 1.43013542e-01 1.68604408e-03 9.89719296e-01 1.43051943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994839173 meters Centerline goodness : 0.767791 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.75, Z:1.43 [[ 9.37685715e-01 -3.20008576e-01 -1.35425297e-01 -4.16652018e+00] [ 3.16446791e-01 9.47412892e-01 -4.76470437e-02 7.52305087e-01] [ 1.43551134e-01 1.82305175e-03 9.89641222e-01 1.42797222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024839173 meters Centerline goodness : 0.765901 Centerline is valid? [False, False] Translation: X:-4.16, Y:0.76, Z:1.43 [[ 9.37129850e-01 -3.21245207e-01 -1.36342073e-01 -4.16298880e+00] [ 3.17518134e-01 9.46992766e-01 -4.88562737e-02 7.57418954e-01] [ 1.44809801e-01 2.49359176e-03 9.89456368e-01 1.42573645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054839172999998 meters Centerline goodness : 0.740300 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.62, Z:2.19 [[ 0.93224946 -0.17736402 0.31536163 -5.14731889] [ 0.34447479 0.70169405 -0.62366865 2.6247853 ] [-0.110671 0.69004889 0.71525133 2.18695363] [ 0. 0. 0. 1. ]] SLAMing on 18.084839173 meters Centerline goodness : 0.740300 Centerline is valid? [False, False] Translation: X:-5.19, Y:2.59, Z:2.18 [[ 0.93680836 -0.20492788 0.28353951 -5.18746007] [ 0.33809868 0.73856962 -0.58327026 2.58621319] [-0.08988533 0.6422768 0.76118404 2.18151185] [ 0. 0. 0. 1. ]] SLAMing on 18.114839173 meters Centerline goodness : 0.732096 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.44, Z:2.36 [[ 0.93182897 -0.21949102 0.28899562 -5.54711543] [ 0.36066151 0.64839517 -0.67045282 2.44098946] [-0.04022499 0.72897695 0.68335536 2.36479447] [ 0. 0. 0. 1. ]] SLAMing on 18.144839173 meters Centerline goodness : 0.749496 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.37, Z:2.36 [[ 0.95622318 -0.19014527 0.22244553 -5.53061723] [ 0.29151485 0.68547784 -0.66718755 2.37494849] [-0.02561892 0.70282637 0.71089997 2.35946225] [ 0. 0. 0. 1. ]] SLAMing on 18.174839173 meters Centerline goodness : 0.752702 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.36, Z:2.37 [[ 0.96637186 -0.17729165 0.18626082 -5.51672889] [ 0.25690623 0.69708248 -0.66938419 2.36346647] [-0.01116293 0.69472562 0.71918823 2.3672394 ] [ 0. 0. 0. 1. ]] SLAMing on 18.204839173 meters Centerline goodness : 0.750135 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.35, Z:2.37 [[ 0.97590109 -0.16658091 0.14095338 -5.49975693] [ 0.21791575 0.71025033 -0.66937074 2.35257852] [ 0.0113922 0.6839556 0.72943468 2.36776647] [ 0. 0. 0. 1. ]] SLAMing on 18.234839173 meters Centerline goodness : 0.737290 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.35, Z:2.37 [[ 0.97802205 -0.16772239 0.1238631 -5.48874272] [ 0.20715278 0.71418944 -0.66859642 2.35367938] [ 0.02367687 0.67956063 0.73323718 2.36573685] [ 0. 0. 0. 1. ]] SLAMing on 18.264839173 meters Centerline goodness : 0.743027 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.35, Z:2.37 [[ 0.98199303 -0.16423424 0.09336386 -5.47886109] [ 0.18427781 0.72387526 -0.66486563 2.35092982] [ 0.04160991 0.6700983 0.74110518 2.36796517] [ 0. 0. 0. 1. ]] SLAMing on 18.294839173 meters Centerline goodness : 0.746310 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.35, Z:2.37 [[ 0.98498232 -0.15849382 0.06848025 -5.46901854] [ 0.16407926 0.7358302 -0.65698699 2.34504756] [ 0.05373855 0.65835676 0.75078529 2.37222569] [ 0. 0. 0. 1. ]] SLAMing on 18.324839173 meters Centerline goodness : 0.751019 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.34, Z:2.37 [[ 0.98741336 -0.15185201 0.04422459 -5.46025945] [ 0.14377409 0.74527086 -0.65107631 2.34123077] [ 0.06590795 0.6492398 0.75772279 2.37338751] [ 0. 0. 0. 1. ]] SLAMing on 18.354839173 meters Centerline goodness : 0.747893 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.34, Z:2.38 [[ 0.98956726 -0.14327889 0.01509317 -5.45117404] [ 0.11864025 0.75096972 -0.64959139 2.3406999 ] [ 0.08173822 0.64460502 0.76013369 2.375576 ] [ 0. 0. 0. 1. ]] SLAMing on 18.384839173 meters Centerline goodness : 0.743269 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.37 [[ 9.90328003e-01 -1.38741708e-01 -1.08860959e-03 -5.44206123e+00] [ 1.05006775e-01 7.54612721e-01 -6.47713839e-01 2.34415214e+00] [ 9.06864029e-02 6.41334842e-01 7.61882929e-01 2.37376685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414839173 meters Centerline goodness : 0.732626 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.35, Z:2.38 [[ 0.99027327 -0.13808419 -0.01707633 -5.4357618 ] [ 0.09434035 0.75658252 -0.64705702 2.3480663 ] [ 0.102268 0.63915229 0.76225036 2.37825125] [ 0. 0. 0. 1. ]] SLAMing on 18.444839173 meters Centerline goodness : 0.737747 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.34, Z:2.38 [[ 0.99071602 -0.13193076 -0.03280299 -5.43217517] [ 0.08051463 0.76383416 -0.64037081 2.34440948] [ 0.10954065 0.6317845 0.76736509 2.38220557] [ 0. 0. 0. 1. ]] SLAMing on 18.474839173 meters Centerline goodness : 0.739017 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.35, Z:2.39 [[ 0.99216654 -0.12006721 -0.03448796 -5.43302671] [ 0.07127802 0.7708333 -0.6330367 2.34942434] [ 0.10259142 0.6256196 0.77335316 2.38660947] [ 0. 0. 0. 1. ]] SLAMing on 18.504839173 meters Centerline goodness : 0.735851 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.35, Z:2.39 [[ 0.99272469 -0.11072044 -0.04731474 -5.4325849 ] [ 0.05636734 0.77459047 -0.62994628 2.34859229] [ 0.10639747 0.62269622 0.7751961 2.38800242] [ 0. 0. 0. 1. ]] SLAMing on 18.534839172999998 meters Centerline goodness : 0.737437 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.35, Z:2.38 [[ 0.99218604 -0.11437991 -0.04984082 -5.42382448] [ 0.05761882 0.7743764 -0.63009623 2.35324915] [ 0.11066591 0.62230091 0.77491589 2.38487234] [ 0. 0. 0. 1. ]] SLAMing on 18.564839173 meters Centerline goodness : 0.736624 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.35, Z:2.38 [[ 0.99154108 -0.11926166 -0.05121473 -5.41748288] [ 0.0609612 0.77627421 -0.62744091 2.35462692] [ 0.11458632 0.61901132 0.7769781 2.37726871] [ 0. 0. 0. 1. ]] SLAMing on 18.594839173 meters Centerline goodness : 0.746139 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.35, Z:2.37 [[ 0.99107618 -0.1232398 -0.05079318 -5.41493776] [ 0.06389578 0.77365151 -0.63038137 2.35410245] [ 0.11698429 0.6215105 0.77462209 2.37301534] [ 0. 0. 0. 1. ]] SLAMing on 18.624839172999998 meters Centerline goodness : 0.741885 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.35, Z:2.37 [[ 0.99113975 -0.12226002 -0.05190841 -5.41135856] [ 0.06305798 0.77708171 -0.62623295 2.35294658] [ 0.11690033 0.61741113 0.77790604 2.37033014] [ 0. 0. 0. 1. ]] SLAMing on 18.654839173 meters Centerline goodness : 0.751659 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.36, Z:2.36 [[ 0.99125249 -0.12173251 -0.05098728 -5.41486895] [ 0.06504499 0.78675399 -0.61383003 2.35506978] [ 0.11483752 0.60514408 0.78778994 2.3646815 ] [ 0. 0. 0. 1. ]] SLAMing on 18.684839173 meters Centerline goodness : 0.745259 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.35, Z:2.37 [[ 0.99163497 -0.11754083 -0.05333149 -5.41152599] [ 0.06127222 0.79233645 -0.60699972 2.35457355] [ 0.11360373 0.59865441 0.79291052 2.36561018] [ 0. 0. 0. 1. ]] SLAMing on 18.714839172999998 meters Centerline goodness : 0.757546 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.36, Z:2.37 [[ 0.99231424 -0.11021382 -0.05626162 -5.40819448] [ 0.05471327 0.79858666 -0.59938785 2.3581131 ] [ 0.1109906 0.59170284 0.79847908 2.36863107] [ 0. 0. 0. 1. ]] SLAMing on 18.744839173 meters Centerline goodness : 0.748669 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.36, Z:2.36 [[ 0.99294152 -0.10651285 -0.05217424 -5.41143236] [ 0.05458743 0.80094376 -0.59624601 2.36472145] [ 0.10529649 0.58918936 0.80110458 2.36096854] [ 0. 0. 0. 1. ]] SLAMing on 18.774839173 meters Centerline goodness : 0.748720 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.38, Z:2.36 [[ 0.99308203 -0.10455244 -0.05344974 -5.40261949] [ 0.05194934 0.79941721 -0.59852602 2.37671443] [ 0.105306 0.59160875 0.79931829 2.35512397] [ 0. 0. 0. 1. ]] SLAMing on 18.804839172999998 meters Centerline goodness : 0.745881 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.38, Z:2.35 [[ 0.9927184 -0.10650524 -0.05627439 -5.39404191] [ 0.05201088 0.80036016 -0.59725915 2.38151684] [ 0.10865101 0.58998327 0.80007169 2.35345387] [ 0. 0. 0. 1. ]] SLAMing on 18.834839173 meters Centerline goodness : 0.746441 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.40, Z:2.35 [[ 0.99228459 -0.10773655 -0.06135245 -5.37716673] [ 0.05161453 0.80890456 -0.58567 2.39554192] [ 0.11272634 0.57798464 0.8082243 2.34821418] [ 0. 0. 0. 1. ]] SLAMing on 18.864839173 meters Centerline goodness : 0.745312 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.40, Z:2.34 [[ 0.99212876 -0.10586074 -0.06688811 -5.40193956] [ 0.0497021 0.82318202 -0.56559797 2.39645277] [ 0.11493571 0.55782154 0.82196406 2.33772027] [ 0. 0. 0. 1. ]] SLAMing on 18.894839173 meters Centerline goodness : 0.750142 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.39, Z:2.33 [[ 0.99212537 -0.10385102 -0.0700158 -5.43242637] [ 0.04911521 0.83682658 -0.54526046 2.39444286] [ 0.11521693 0.53752789 0.83533755 2.32783567] [ 0. 0. 0. 1. ]] SLAMing on 18.924839173 meters Centerline goodness : 0.748392 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.39, Z:2.32 [[ 0.99273742 -0.10030795 -0.06641339 -5.45594708] [ 0.05047976 0.84843845 -0.52688138 2.3942869 ] [ 0.10919807 0.51970233 0.84734012 2.32220538] [ 0. 0. 0. 1. ]] SLAMing on 18.954839173 meters Centerline goodness : 0.745054 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.39, Z:2.31 [[ 0.99290037 -0.09763771 -0.06793924 -5.48465973] [ 0.05003512 0.86100205 -0.50613432 2.39380892] [ 0.10791363 0.49914161 0.85977457 2.31142607] [ 0. 0. 0. 1. ]] SLAMing on 18.984839173 meters Centerline goodness : 0.742570 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.40, Z:2.30 [[ 0.99284385 -0.09392895 -0.0737458 -5.51080401] [ 0.04687238 0.874488 -0.48277709 2.39695782] [ 0.10983656 0.47586563 0.8726327 2.29991284] [ 0. 0. 0. 1. ]] SLAMing on 19.014839173 meters Centerline goodness : 0.742256 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.40, Z:2.29 [[ 0.99295853 -0.08665483 -0.08077308 -5.53304715] [ 0.04006948 0.88733952 -0.4593724 2.40063375] [ 0.11147998 0.45290121 0.88456357 2.28854948] [ 0. 0. 0. 1. ]] SLAMing on 19.044839173 meters Centerline goodness : 0.738951 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.40, Z:2.28 [[ 0.99357114 -0.0790862 -0.08100473 -5.52857302] [ 0.03392323 0.89063474 -0.45345229 2.40271956] [ 0.10800745 0.44778917 0.88759183 2.28401934] [ 0. 0. 0. 1. ]] SLAMing on 19.074839173 meters Centerline goodness : 0.738760 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.40, Z:2.28 [[ 0.99429424 -0.06901162 -0.08134108 -5.52634335] [ 0.02581821 0.89555069 -0.44420985 2.4032195 ] [ 0.1035007 0.43957521 0.89222264 2.27928168] [ 0. 0. 0. 1. ]] SLAMing on 19.104839173 meters Centerline goodness : 0.734402 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.41, Z:2.28 [[ 0.99462969 -0.06051692 -0.08396118 -5.51793024] [ 0.01746688 0.89775119 -0.44015646 2.41133672] [ 0.10201316 0.43632615 0.89398703 2.28218826] [ 0. 0. 0. 1. ]] SLAMing on 19.134839173 meters Centerline goodness : 0.735404 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.41, Z:2.27 [[ 0.99465184 -0.05844343 -0.08515914 -5.53526668] [ 0.01688289 0.90541849 -0.42418431 2.41054778] [ 0.10189545 0.42047797 0.90156286 2.27015034] [ 0. 0. 0. 1. ]] SLAMing on 19.164839173 meters Centerline goodness : 0.735031 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.41, Z:2.26 [[ 0.99505455 -0.05385637 -0.08346214 -5.54520781] [ 0.01467168 0.91072498 -0.41275265 2.41258357] [ 0.09824041 0.40948688 0.9070112 2.26203456] [ 0. 0. 0. 1. ]] SLAMing on 19.194839173 meters Centerline goodness : 0.733681 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.42, Z:2.25 [[ 0.99511053 -0.05188072 -0.08404415 -5.56528641] [ 0.01459779 0.91884 -0.39436019 2.41664989] [ 0.09768281 0.39120512 0.9151047 2.24966741] [ 0. 0. 0. 1. ]] SLAMing on 19.224839173 meters Centerline goodness : 0.729720 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.42, Z:2.25 [[ 0.99500273 -0.04735463 -0.08790397 -5.56532452] [ 0.01012333 0.92368837 -0.38301086 2.4162949 ] [ 0.09933321 0.38020697 0.91955183 2.2473091 ] [ 0. 0. 0. 1. ]] SLAMing on 19.254839173 meters Centerline goodness : 0.735211 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.42, Z:2.24 [[ 0.99528423 -0.04074291 -0.08803016 -5.58624107] [ 0.00613123 0.93212205 -0.36209239 2.42139233] [ 0.09680755 0.35984512 0.92797618 2.23698389] [ 0. 0. 0. 1. ]] SLAMing on 19.284839172999998 meters Centerline goodness : 0.730457 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.42, Z:2.24 [[ 0.99519066 -0.04168619 -0.08864425 -5.58290011] [ 0.00798021 0.93642575 -0.35077505 2.42115544] [ 0.09763124 0.34838066 0.93225482 2.23984023] [ 0. 0. 0. 1. ]] SLAMing on 19.314839173 meters Centerline goodness : 0.729415 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.43, Z:2.25 [[ 0.99464993 -0.04301523 -0.09392131 -5.57503446] [ 0.00767609 0.93744436 -0.3480505 2.42750348] [ 0.10301748 0.34546746 0.93275915 2.24765357] [ 0. 0. 0. 1. ]] SLAMing on 19.344839173 meters Centerline goodness : 0.733671 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.43, Z:2.24 [[ 0.99455176 -0.04269633 -0.09509895 -5.59462804] [ 0.00875225 0.94325343 -0.33195839 2.42849874] [ 0.10387582 0.32931747 0.93848805 2.23633964] [ 0. 0. 0. 1. ]] SLAMing on 19.374839172999998 meters Centerline goodness : 0.730138 Centerline is valid? [False, False] Translation: X:-5.61, Y:2.43, Z:2.22 [[ 0.99440793 -0.04730556 -0.09441959 -5.61458509] [ 0.01466511 0.94725699 -0.32013925 2.43344661] [ 0.10458398 0.31696433 0.9426536 2.2241623 ] [ 0. 0. 0. 1. ]] SLAMing on 19.404839173 meters Centerline goodness : 0.726985 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.43, Z:2.21 [[ 0.9943404 -0.04848237 -0.09453372 -5.63117301] [ 0.01722118 0.9515888 -0.30689117 2.43455812] [ 0.10483604 0.3035263 0.94703811 2.21233978] [ 0. 0. 0. 1. ]] SLAMing on 19.434839173 meters Centerline goodness : 0.724221 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.44, Z:2.20 [[ 0.99404717 -0.0532699 -0.09503968 -5.64999383] [ 0.02307904 0.95547842 -0.294157 2.44128326] [ 0.10647807 0.29021251 0.95102004 2.19844374] [ 0. 0. 0. 1. ]] SLAMing on 19.464839172999998 meters Centerline goodness : 0.721109 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.19 [[ 0.99386027 -0.05589702 -0.09548452 -5.66913987] [ 0.02696135 0.95933772 -0.28097016 2.4418513 ] [ 0.1073073 0.27667068 0.9549547 2.18672844] [ 0. 0. 0. 1. ]] SLAMing on 19.494839173 meters Centerline goodness : 0.717674 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.19 [[ 0.99387955 -0.05809114 -0.09396201 -5.67315121] [ 0.02950539 0.95926457 -0.28096425 2.43875679] [ 0.10645596 0.27647224 0.95510744 2.18505757] [ 0. 0. 0. 1. ]] SLAMing on 19.524839173 meters Centerline goodness : 0.719323 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.43, Z:2.18 [[ 0.9939797 -0.05711698 -0.09349868 -5.67487377] [ 0.02890126 0.95982789 -0.27909702 2.43494766] [ 0.10568382 0.27471454 0.95570019 2.18374472] [ 0. 0. 0. 1. ]] SLAMing on 19.554839172999998 meters Centerline goodness : 0.722314 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.18 [[ 0.9941779 -0.05277919 -0.09393961 -5.68453285] [ 0.02593399 0.963399 -0.26681415 2.43167768] [ 0.10458356 0.2628245 0.95915878 2.1772313 ] [ 0. 0. 0. 1. ]] SLAMing on 19.584839173 meters Centerline goodness : 0.723872 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.18 [[ 0.99435889 -0.04374932 -0.096625 -5.68289279] [ 0.01748801 0.96612791 -0.25747045 2.43297411] [ 0.10461626 0.25432825 0.96144297 2.17920071] [ 0. 0. 0. 1. ]] SLAMing on 19.614839173 meters Centerline goodness : 0.723103 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.18 [[ 0.99471307 -0.03568983 -0.09629196 -5.68464235] [ 0.01064469 0.96844858 -0.24898602 2.43030732] [ 0.10214008 0.24664465 0.96370837 2.17721061] [ 0. 0. 0. 1. ]] SLAMing on 19.644839173 meters Centerline goodness : 0.721030 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.18 [[ 0.99484093 -0.0306237 -0.0967146 -5.682949 ] [ 0.00607165 0.96961429 -0.2445634 2.42987415] [ 0.1012653 0.24271446 0.96479792 2.17584606] [ 0. 0. 0. 1. ]] SLAMing on 19.674839173 meters Centerline goodness : 0.719643 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.17 [[ 9.94929956e-01 -2.44597413e-02 -9.75505233e-02 -5.67810248e+00] [ 4.65437813e-04 9.71083036e-01 -2.38741537e-01 2.42918202e+00] [ 1.00569214e-01 2.37485703e-01 9.66170986e-01 2.17146367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704839173 meters Centerline goodness : 0.720464 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.17 [[ 9.95042011e-01 -2.15626614e-02 -9.70898987e-02 -5.67949476e+00] [-1.77504476e-03 9.72208658e-01 -2.34109320e-01 2.42665412e+00] [ 9.94396602e-02 2.33120948e-01 9.67350184e-01 2.16848117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734839173 meters Centerline goodness : 0.720877 Centerline is valid? [False, False] Translation: X:-5.71, Y:2.42, Z:2.16 [[ 0.9953483 -0.02676842 -0.09254849 -5.71023319] [ 0.00572212 0.97535488 -0.22056773 2.42415561] [ 0.09617187 0.21901214 0.97097099 2.1619942 ] [ 0. 0. 0. 1. ]] SLAMing on 19.764839173 meters Centerline goodness : 0.722745 Centerline is valid? [False, False] Translation: X:-5.71, Y:2.42, Z:2.16 [[ 9.95418939e-01 -2.41916150e-02 -9.24981191e-02 -5.71200068e+00] [ 3.57830130e-03 9.76208161e-01 -2.16805955e-01 2.42225204e+00] [ 9.55423049e-02 2.15481768e-01 9.71822657e-01 2.16152208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794839173 meters Centerline goodness : 0.718537 Centerline is valid? [False, False] Translation: X:-5.71, Y:2.42, Z:2.15 [[ 9.95441834e-01 -1.76979191e-02 -9.37141302e-02 -5.70503913e+00] [-2.36803212e-03 9.77741448e-01 -2.09800030e-01 2.42272612e+00] [ 9.53412134e-02 2.09065645e-01 9.73242832e-01 2.15433338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824839173 meters Centerline goodness : 0.715200 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.14 [[ 0.99538023 -0.01255653 -0.09518686 -5.69403568] [-0.00727063 0.9787066 -0.20513538 2.42053077] [ 0.09573579 0.20487977 0.97409391 2.14491813] [ 0. 0. 0. 1. ]] SLAMing on 19.854839173 meters Centerline goodness : 0.714221 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.14 [[ 0.9954408 -0.00848268 -0.09500344 -5.69426787] [-0.01085249 0.9794964 -0.20116917 2.42047579] [ 0.09476198 0.20128302 0.97493862 2.14404276] [ 0. 0. 0. 1. ]] SLAMing on 19.884839173 meters Centerline goodness : 0.716264 Centerline is valid? [False, False] Translation: X:-5.70, Y:2.42, Z:2.14 [[ 9.95497598e-01 -5.09938769e-03 -9.46495042e-02 -5.69585240e+00] [-1.37855512e-02 9.80145557e-01 -1.97799507e-01 2.42150509e+00] [ 9.37789474e-02 1.98213730e-01 9.75662250e-01 2.14440900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.914839173 meters Centerline goodness : 0.717898 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.15 [[ 9.94961032e-01 -2.74277595e-03 -1.00224855e-01 -5.69103531e+00] [-1.63145937e-02 9.81874287e-01 -1.88829868e-01 2.42441008e+00] [ 9.89261262e-02 1.89513488e-01 9.76881907e-01 2.14898596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944839173 meters Centerline goodness : 0.717097 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.15 [[ 9.94529828e-01 -3.45163191e-03 -1.04395915e-01 -5.68625631e+00] [-1.60135789e-02 9.82600265e-01 -1.85041304e-01 2.42304302e+00] [ 1.03218148e-01 1.85700849e-01 9.77170000e-01 2.14934695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974839173 meters Centerline goodness : 0.720385 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.15 [[ 9.94575536e-01 4.94689710e-04 -1.04015667e-01 -5.68720740e+00] [-1.94165216e-02 9.83295064e-01 -1.80980154e-01 2.42287778e+00] [ 1.02188563e-01 1.82018056e-01 9.77970820e-01 2.14866474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004839173 meters Centerline goodness : 0.720385 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.42, Z:2.15 [[ 9.94575536e-01 4.94689710e-04 -1.04015667e-01 -5.68720740e+00] [-1.94165216e-02 9.83295064e-01 -1.80980154e-01 2.42287778e+00] [ 1.02188563e-01 1.82018056e-01 9.77970820e-01 2.14866474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034839172999998 meters Centerline goodness : 0.718388 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.43, Z:2.15 [[ 0.99454822 0.00602035 -0.10410379 -5.68512437] [-0.02451916 0.98384305 -0.17734616 2.42803036] [ 0.10135411 0.17893184 0.97862697 2.14859424] [ 0. 0. 0. 1. ]] SLAMing on 20.064839173 meters Centerline goodness : 0.718270 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.15 [[ 0.9944741 0.0072872 -0.10472902 -5.68156568] [-0.025808 0.98394423 -0.17660038 2.42866133] [ 0.10176059 0.17832735 0.97869512 2.14671647] [ 0. 0. 0. 1. ]] SLAMing on 20.094839173 meters Centerline goodness : 0.714450 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.42, Z:2.14 [[ 0.99437406 0.00949284 -0.10549932 -5.67539197] [-0.02776978 0.98450287 -0.17315583 2.42297989] [ 0.10222064 0.17511136 0.97922773 2.13902734] [ 0. 0. 0. 1. ]] SLAMing on 20.124839172999998 meters Centerline goodness : 0.715156 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.42, Z:2.14 [[ 0.99435743 0.01010932 -0.10559881 -5.67363313] [-0.02827345 0.98469725 -0.17196494 2.42083414] [ 0.10224441 0.17398025 0.97942685 2.13627981] [ 0. 0. 0. 1. ]] SLAMing on 20.154839173 meters Centerline goodness : 0.714286 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.42, Z:2.14 [[ 0.99435745 0.0101013 -0.10559938 -5.67363581] [-0.02825988 0.98470721 -0.1719101 2.42177279] [ 0.10224795 0.17392432 0.97943641 2.13631169] [ 0. 0. 0. 1. ]] SLAMing on 20.184839173 meters Centerline goodness : 0.716948 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.42, Z:2.14 [[ 0.994386 0.00750225 -0.10554714 -5.67761771] [-0.02441477 0.98683549 -0.15987382 2.41872042] [ 0.10295825 0.16155319 0.98147856 2.14294882] [ 0. 0. 0. 1. ]] SLAMing on 20.214839172999998 meters Centerline goodness : 0.724607 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.41, Z:2.14 [[ 9.94585848e-01 3.83144426e-03 -1.03847540e-01 -5.68965189e+00] [-2.03062927e-02 9.87221112e-01 -1.58057366e-01 2.41288359e+00] [ 1.01914896e-01 1.59310378e-01 9.81953949e-01 2.14322508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244839173 meters Centerline goodness : 0.725836 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.41, Z:2.14 [[ 9.94629789e-01 3.13768098e-03 -1.03449204e-01 -5.69224737e+00] [-1.94716549e-02 9.87364282e-01 -1.57266109e-01 2.40755008e+00] [ 1.01648598e-01 1.58435884e-01 9.82123023e-01 2.14327926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274839173 meters Centerline goodness : 0.728840 Centerline is valid? [False, False] Translation: X:-5.70, Y:2.40, Z:2.14 [[ 9.94687988e-01 1.65679473e-03 -1.02922597e-01 -5.69633239e+00] [-1.78885954e-02 9.87438525e-01 -1.56987761e-01 2.39967567e+00] [ 1.01369641e-01 1.57994981e-01 9.82222878e-01 2.14439299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304839172999998 meters Centerline goodness : 0.727355 Centerline is valid? [False, False] Translation: X:-5.70, Y:2.40, Z:2.14 [[ 9.94668576e-01 2.49810980e-03 -1.03093082e-01 -5.69584435e+00] [-1.86409846e-02 9.87593453e-01 -1.55922050e-01 2.39611512e+00] [ 1.01424543e-01 1.57012520e-01 9.82374740e-01 2.14406484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334839173 meters Centerline goodness : 0.726714 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.39, Z:2.14 [[ 9.94583265e-01 4.87933121e-03 -1.03828320e-01 -5.69283277e+00] [-2.07758433e-02 9.88072654e-01 -1.52580455e-01 2.38501151e+00] [ 1.01845434e-01 1.53911088e-01 9.82821899e-01 2.14076264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364839173 meters Centerline goodness : 0.725132 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.38, Z:2.14 [[ 0.99452681 0.00630099 -0.10429153 -5.69118874] [-0.02208103 0.98830934 -0.15085449 2.37999582] [ 0.10212176 0.1523317 0.98303927 2.13944388] [ 0. 0. 0. 1. ]] SLAMing on 20.394839173 meters Centerline goodness : 0.724913 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.37, Z:2.13 [[ 0.99421786 0.01142899 -0.10677182 -5.6803839 ] [-0.02693297 0.98907713 -0.14491741 2.36983658] [ 0.10394931 0.14695516 0.98366596 2.13123421] [ 0. 0. 0. 1. ]] SLAMing on 20.424839173 meters Centerline goodness : 0.722066 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.37, Z:2.13 [[ 0.99401037 0.01447991 -0.10832224 -5.67320245] [-0.02990484 0.9893914 -0.14216314 2.36590889] [ 0.10511458 0.144551 0.98389834 2.12714601] [ 0. 0. 0. 1. ]] SLAMing on 20.454839173 meters Centerline goodness : 0.724206 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.36, Z:2.12 [[ 0.99387796 0.02045042 -0.10857429 -5.67113495] [-0.0351758 0.99015324 -0.13549618 2.35917421] [ 0.10473423 0.13848586 0.98481085 2.12383278] [ 0. 0. 0. 1. ]] SLAMing on 20.484839173 meters Centerline goodness : 0.727834 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.35, Z:2.13 [[ 0.99383229 0.02356385 -0.10836105 -5.67432767] [-0.03780871 0.99061531 -0.13134612 2.35234025] [ 0.10424909 0.13463301 0.98539641 2.12519247] [ 0. 0. 0. 1. ]] SLAMing on 20.514839173 meters Centerline goodness : 0.728517 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.35, Z:2.12 [[ 0.99372688 0.02808287 -0.10825084 -5.67467942] [-0.04181254 0.99105569 -0.12672936 2.34901852] [ 0.10372369 0.13046062 0.98601289 2.12481127] [ 0. 0. 0. 1. ]] SLAMing on 20.544839173 meters Centerline goodness : 0.732169 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.34, Z:2.13 [[ 0.99356975 0.03294096 -0.10832383 -5.675694 ] [-0.04612869 0.99150824 -0.12158762 2.34354199] [ 0.10339876 0.12580261 0.98665212 2.12536478] [ 0. 0. 0. 1. ]] SLAMing on 20.574839173 meters Centerline goodness : 0.733359 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.34, Z:2.12 [[ 0.99352233 0.03360131 -0.10855565 -5.67554305] [-0.04665654 0.99167001 -0.12005731 2.33786077] [ 0.1036173 0.12434445 0.98681402 2.1246738 ] [ 0. 0. 0. 1. ]] SLAMing on 20.604839173 meters Centerline goodness : 0.739520 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.33, Z:2.12 [[ 0.9935845 0.03053885 -0.10889083 -5.67465516] [-0.04385756 0.99154849 -0.12209875 2.33112164] [ 0.10424178 0.12609111 0.98652657 2.12347563] [ 0. 0. 0. 1. ]] SLAMing on 20.634839173 meters Centerline goodness : 0.737518 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.33, Z:2.13 [[ 0.99290809 0.02706439 -0.11576285 -5.66579044] [-0.04052448 0.9924747 -0.11554969 2.32758973] [ 0.11176442 0.11942145 0.98653294 2.12687496] [ 0. 0. 0. 1. ]] SLAMing on 20.664839173 meters Centerline goodness : 0.734919 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.33, Z:2.13 [[ 0.9927593 0.02756937 -0.11691411 -5.66443483] [-0.04102446 0.99260007 -0.11428949 2.32601383] [ 0.11289807 0.1182583 0.98654397 2.12736816] [ 0. 0. 0. 1. ]] SLAMing on 20.694839173 meters Centerline goodness : 0.738039 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.32, Z:2.13 [[ 0.99273393 0.02790129 -0.11705068 -5.66455025] [-0.04126462 0.99269831 -0.11334595 2.32286151] [ 0.11303352 0.11735242 0.98663663 2.12719109] [ 0. 0. 0. 1. ]] SLAMing on 20.724839173 meters Centerline goodness : 0.741097 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.32, Z:2.13 [[ 0.99286924 0.02479983 -0.11660031 -5.67015804] [-0.03829499 0.99263124 -0.11496393 2.31532935] [ 0.11289003 0.11860936 0.98650274 2.13064763] [ 0. 0. 0. 1. ]] SLAMing on 20.754839173 meters Centerline goodness : 0.744385 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.31, Z:2.13 [[ 0.99294738 0.02449652 -0.11599749 -5.67299611] [-0.03786104 0.99270704 -0.11445204 2.31092615] [ 0.11234785 0.11803664 0.98663332 2.13139932] [ 0. 0. 0. 1. ]] SLAMing on 20.784839172999998 meters Centerline goodness : 0.747384 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.30, Z:2.13 [[ 0.99392429 0.01889659 -0.1084317 -5.6659861 ] [-0.03076846 0.99357837 -0.10888213 2.30266139] [ 0.10567789 0.11155686 0.98812309 2.12803191] [ 0. 0. 0. 1. ]] SLAMing on 20.814839173 meters Centerline goodness : 0.748924 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.30, Z:2.13 [[ 0.99417649 0.01445715 -0.10678994 -5.65974548] [-0.02499964 0.99486711 -0.09805334 2.2955036 ] [ 0.10482423 0.10015204 0.98943492 2.1256065 ] [ 0. 0. 0. 1. ]] SLAMing on 20.844839173 meters Centerline goodness : 0.745870 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.29, Z:2.12 [[ 0.99411865 0.00735773 -0.1080462 -5.65509755] [-0.01857842 0.99448554 -0.10321505 2.28871972] [ 0.10669095 0.10461534 0.98877332 2.12215356] [ 0. 0. 0. 1. ]] SLAMing on 20.874839172999998 meters Centerline goodness : 0.748034 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.28, Z:2.12 [[ 9.94077850e-01 4.12171222e-03 -1.08592084e-01 -5.65263251e+00] [-1.56143286e-02 9.94328850e-01 -1.05196627e-01 2.28355954e+00] [ 1.07542651e-01 1.06269229e-01 9.88504643e-01 2.11981147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904839173 meters Centerline goodness : 0.742009 Centerline is valid? [False, False] Translation: X:-5.64, Y:2.28, Z:2.12 [[ 9.93670956e-01 -1.67066360e-05 -1.12330010e-01 -5.64303663e+00] [-1.09042522e-02 9.95262871e-01 -9.66070087e-02 2.28071487e+00] [ 1.11799502e-01 9.72204535e-02 9.88963627e-01 2.12103860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934839173 meters Centerline goodness : 0.743004 Centerline is valid? [False, False] Translation: X:-5.64, Y:2.27, Z:2.12 [[ 9.94171461e-01 -4.98212505e-03 -1.07695329e-01 -5.64066173e+00] [-4.22615833e-03 9.96362931e-01 -8.51061120e-02 2.27395862e+00] [ 1.07727643e-01 8.50652052e-02 9.90534535e-01 2.11827992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964839172999998 meters Centerline goodness : 0.743497 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.27, Z:2.12 [[ 9.94847128e-01 -7.56329055e-03 -1.01103851e-01 -5.63143513e+00] [-2.46674027e-04 9.97030119e-01 -7.70122141e-02 2.26765606e+00] [ 1.01386050e-01 7.66403197e-02 9.91890685e-01 2.11528480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994839173 meters Centerline goodness : 0.743115 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.26, Z:2.11 [[ 9.94825072e-01 -7.87417056e-03 -1.01296962e-01 -5.63172077e+00] [ 1.87312153e-04 9.97132816e-01 -7.56710854e-02 2.26079607e+00] [ 1.01602372e-01 7.52605188e-02 9.91974199e-01 2.11461482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024839173 meters Centerline goodness : 0.743589 Centerline is valid? [False, False] Translation: X:-5.62, Y:2.26, Z:2.11 [[ 9.95208082e-01 -8.34482746e-03 -9.74229793e-02 -5.62227184e+00] [ 2.24088082e-03 9.98036425e-01 -6.25961052e-02 2.25682544e+00] [ 9.77540357e-02 6.20778365e-02 9.93272617e-01 2.10949714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054839172999998 meters Centerline goodness : 0.744123 Centerline is valid? [False, False] Translation: X:-5.62, Y:2.26, Z:2.11 [[ 9.95179503e-01 -7.97638106e-03 -9.77452554e-02 -5.61950622e+00] [ 1.94298379e-03 9.98094944e-01 -6.16660926e-02 2.25634983e+00] [ 9.80509175e-02 6.11789139e-02 9.93299128e-01 2.10653556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084839173 meters Centerline goodness : 0.740345 Centerline is valid? [False, False] Translation: X:-5.61, Y:2.25, Z:2.10 [[ 0.99578285 -0.01119877 -0.09105549 -5.60833682] [ 0.00632688 0.99854146 -0.05361829 2.24912096] [ 0.09152314 0.05281608 0.99440132 2.10030769] [ 0. 0. 0. 1. ]] SLAMing on 21.114839173 meters Centerline goodness : 0.737438 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.25, Z:2.10 [[ 0.99565487 -0.01781599 -0.09140004 -5.60451564] [ 0.01231479 0.99809812 -0.0604028 2.24766529] [ 0.09230234 0.05901477 0.99398065 2.09802457] [ 0. 0. 0. 1. ]] SLAMing on 21.144839172999998 meters Centerline goodness : 0.740162 Centerline is valid? [False, False] Translation: X:-5.61, Y:2.25, Z:2.10 [[ 0.99576538 -0.01458932 -0.09076593 -5.60664716] [ 0.00944958 0.99834083 -0.05680048 2.24760062] [ 0.09144401 0.05570225 0.9942511 2.09802413] [ 0. 0. 0. 1. ]] SLAMing on 21.174839173 meters Centerline goodness : 0.740975 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.25, Z:2.09 [[ 9.96436606e-01 -8.76785685e-03 -8.38881036e-02 -5.59802300e+00] [ 5.39570555e-03 9.99171410e-01 -4.03408018e-02 2.24853074e+00] [ 8.41722971e-02 3.97444161e-02 9.95658278e-01 2.09344703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204839173 meters Centerline goodness : 0.742093 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.25, Z:2.08 [[ 9.97525655e-01 -4.16943400e-03 -7.01796521e-02 -5.59695119e+00] [ 1.95977675e-03 9.99501037e-01 -3.15251780e-02 2.24668557e+00] [ 7.02760771e-02 3.13096374e-02 9.97036097e-01 2.08469442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234839173 meters Centerline goodness : 0.743764 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.25, Z:2.08 [[ 9.97495240e-01 -2.85743006e-03 -7.06758845e-02 -5.59477703e+00] [ 6.32439833e-04 9.99504057e-01 -3.14839670e-02 2.25024152e+00] [ 7.07307965e-02 3.13604090e-02 9.97002347e-01 2.08438960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264839173 meters Centerline goodness : 0.739473 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.25, Z:2.08 [[ 9.97480000e-01 1.40697753e-03 -7.09342721e-02 -5.59289971e+00] [-3.41589633e-03 9.99596253e-01 -2.82075046e-02 2.25450362e+00] [ 7.08659452e-02 2.83787258e-02 9.97082076e-01 2.08297758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294839173 meters Centerline goodness : 0.742670 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.26, Z:2.08 [[ 9.98431783e-01 2.86473027e-03 -5.59085595e-02 -5.59621665e+00] [-4.08350861e-03 9.99756243e-01 -2.16974437e-02 2.25815547e+00] [ 5.58327741e-02 2.18917204e-02 9.98200107e-01 2.07655280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324839173 meters Centerline goodness : 0.743932 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.26, Z:2.07 [[ 9.98860689e-01 2.19353039e-03 -4.76708755e-02 -5.58960825e+00] [-2.76921591e-03 9.99924000e-01 -1.20135665e-02 2.25972667e+00] [ 4.76409004e-02 1.21318903e-02 9.98790850e-01 2.07306279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354839173 meters Centerline goodness : 0.742573 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.26, Z:2.06 [[ 9.99405674e-01 4.74485902e-03 -3.41436088e-02 -5.58882406e+00] [-5.00176593e-03 9.99959793e-01 -7.44282788e-03 2.25887683e+00] [ 3.41069208e-02 7.60918275e-03 9.99389223e-01 2.06319348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384839173 meters Centerline goodness : 0.739034 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.26, Z:2.06 [[ 0.9993553 0.00670574 -0.03527051 -5.58359091] [-0.00696609 0.99994936 -0.00726361 2.26106057] [ 0.03522002 0.00750463 0.99935141 2.06097762] [ 0. 0. 0. 1. ]] SLAMing on 21.414839173 meters Centerline goodness : 0.740373 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.27, Z:2.06 [[ 9.99289853e-01 1.12750275e-02 -3.59536394e-02 -5.57838690e+00] [-1.14346530e-02 9.99925645e-01 -4.23722295e-03 2.26685511e+00] [ 3.59031912e-02 4.64533129e-03 9.99344476e-01 2.05722436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444839173 meters Centerline goodness : 0.738940 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.27, Z:2.06 [[ 9.99264855e-01 1.22826861e-02 -3.63164660e-02 -5.57581793e+00] [-1.24536209e-02 9.99912395e-01 -4.48434679e-03 2.27218050e+00] [ 3.62582047e-02 4.93332164e-03 9.99330278e-01 2.05588547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474839173 meters Centerline goodness : 0.741280 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.28, Z:2.06 [[ 9.99238167e-01 1.54915851e-02 -3.58203490e-02 -5.57758136e+00] [-1.55744076e-02 9.99876642e-01 -2.03427499e-03 2.27678932e+00] [ 3.57844161e-02 2.59060592e-03 9.99356175e-01 2.05713727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504839173 meters Centerline goodness : 0.741608 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.29, Z:2.06 [[ 9.99184685e-01 1.91928101e-02 -3.55190355e-02 -5.57890292e+00] [-1.92820600e-02 9.99811725e-01 -2.17186176e-03 2.28748147e+00] [ 3.54706640e-02 2.85497118e-03 9.99366640e-01 2.06207346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534839172999998 meters Centerline goodness : 0.739553 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.29, Z:2.06 [[ 9.99155667e-01 1.96089768e-02 -3.61031886e-02 -5.57706112e+00] [-1.97301221e-02 9.99800834e-01 -3.00228144e-03 2.29200609e+00] [ 3.60371264e-02 3.71206684e-03 9.99343558e-01 2.06228786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564839173 meters Centerline goodness : 0.737137 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.30, Z:2.06 [[ 9.99147051e-01 1.87780835e-02 -3.67770854e-02 -5.57261103e+00] [-1.89369673e-02 9.99812771e-01 -3.97658622e-03 2.29618292e+00] [ 3.66955270e-02 4.66964086e-03 9.99315582e-01 2.05849199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594839173 meters Centerline goodness : 0.734193 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.30, Z:2.05 [[ 9.99605336e-01 1.45783195e-02 -2.40134100e-02 -5.56996830e+00] [-1.46512994e-02 9.99888557e-01 -2.86598970e-03 2.29707382e+00] [ 2.39689525e-02 3.21668625e-03 9.99707528e-01 2.04753673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624839172999998 meters Centerline goodness : 0.737811 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.30, Z:2.04 [[ 9.99881533e-01 1.25945585e-02 -8.84856226e-03 -5.57199529e+00] [-1.26168811e-02 9.99917350e-01 -2.47146455e-03 2.29731048e+00] [ 8.81670392e-03 2.58281302e-03 9.99957797e-01 2.04023723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654839173 meters Centerline goodness : 0.737640 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.30, Z:2.04 [[ 0.99992826 0.00815558 -0.00877258 -5.57260443] [-0.00821971 0.99993958 -0.00729893 2.30080085] [ 0.00871253 0.00737051 0.99993488 2.04100833] [ 0. 0. 0. 1. ]] SLAMing on 21.684839173 meters Centerline goodness : 0.735923 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.31, Z:2.04 [[ 0.99993987 0.00692091 -0.0085058 -5.57250678] [-0.00699655 0.99993595 -0.00889611 2.3097139 ] [ 0.00844369 0.00895508 0.99992425 2.03971745] [ 0. 0. 0. 1. ]] SLAMing on 21.714839172999998 meters Centerline goodness : 0.736057 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.31, Z:2.04 [[ 0.9999465 0.00620424 -0.00827701 -5.57332369] [-0.00628605 0.99993129 -0.00989415 2.31349754] [ 0.00821506 0.00994565 0.9999168 2.04009262] [ 0. 0. 0. 1. ]] SLAMing on 21.744839173 meters Centerline goodness : 0.737509 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.32, Z:2.04 [[ 9.99963713e-01 4.44232900e-03 -7.26898661e-03 -5.57614652e+00] [-4.52868913e-03 9.99918847e-01 -1.19076165e-02 2.31884746e+00] [ 7.21549916e-03 1.19401034e-02 9.99902681e-01 2.04064105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774839173 meters Centerline goodness : 0.735346 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.33, Z:2.04 [[ 9.99975001e-01 2.68153759e-03 -6.54265360e-03 -5.57886607e+00] [-2.77456694e-03 9.99894593e-01 -1.42515024e-02 2.32561855e+00] [ 6.50374802e-03 1.42692992e-02 9.99877037e-01 2.04212063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804839172999998 meters Centerline goodness : 0.737149 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.33, Z:2.04 [[ 9.99977978e-01 2.00641783e-03 -6.32597529e-03 -5.57983922e+00] [-2.10271237e-03 9.99881465e-01 -1.52523631e-02 2.32923176e+00] [ 6.29462283e-03 1.52653289e-02 9.99863664e-01 2.04282536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834839173 meters Centerline goodness : 0.737125 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.33, Z:2.04 [[ 9.99996282e-01 2.18565161e-03 1.63084202e-03 -5.57254573e+00] [-2.17689417e-03 9.99983306e-01 -5.35248038e-03 2.33111267e+00] [-1.64251345e-03 5.34891030e-03 9.99984346e-01 2.04038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864839173 meters Centerline goodness : 0.736836 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.33, Z:2.04 [[ 9.99993311e-01 3.54158926e-03 9.13897949e-04 -5.56916414e+00] [-3.53690522e-03 9.99980857e-01 -5.07704440e-03 2.33465977e+00] [-9.31861260e-04 5.07377807e-03 9.99986694e-01 2.03882511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894839172999998 meters Centerline goodness : 0.736836 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.33, Z:2.04 [[ 9.99993311e-01 3.54158926e-03 9.13897949e-04 -5.56916414e+00] [-3.53690522e-03 9.99980857e-01 -5.07704440e-03 2.33465977e+00] [-9.31861260e-04 5.07377807e-03 9.99986694e-01 2.03882511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924839173 meters Centerline goodness : 0.734617 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.34, Z:2.03 [[ 9.99953480e-01 9.62996071e-03 -5.49735238e-04 -5.56009459e+00] [-9.63081879e-03 9.99952374e-01 -1.58019500e-03 2.34117122e+00] [ 5.34491841e-04 1.58541589e-03 9.99998600e-01 2.03304684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954839173 meters Centerline goodness : 0.734186 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.35, Z:2.03 [[ 9.99945327e-01 1.04065810e-02 -1.02247446e-03 -5.55801612e+00] [-1.04094085e-02 9.99941900e-01 -2.80004165e-03 2.34705215e+00] [ 9.93276197e-04 2.81053192e-03 9.99995557e-01 2.03349142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839173 meters Centerline goodness : 0.734542 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.35, Z:2.03 [[ 9.99941415e-01 1.08081042e-02 -5.93263075e-04 -5.55868237e+00] [-1.08105528e-02 9.99932352e-01 -4.29215635e-03 2.35447206e+00] [ 5.46832869e-04 4.29831839e-03 9.99990613e-01 2.03487317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014839173 meters Centerline goodness : 0.736477 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.36, Z:2.04 [[ 9.99948212e-01 1.01640173e-02 -5.16354090e-04 -5.55980120e+00] [-1.01667445e-02 9.99932712e-01 -5.58652444e-03 2.35747812e+00] [ 4.59537814e-04 5.59148476e-03 9.99984262e-01 2.03663526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839173 meters Centerline goodness : 0.741156 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.36, Z:2.04 [[ 9.99970983e-01 7.58790490e-03 6.76076024e-04 -5.56602683e+00] [-7.58148499e-03 9.99930397e-01 -9.04005838e-03 2.36496455e+00] [-7.44624070e-04 9.03467040e-03 9.99958909e-01 2.04208828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074839173 meters Centerline goodness : 0.742662 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.37, Z:2.04 [[ 9.99975992e-01 6.88367499e-03 7.93991674e-04 -5.56723524e+00] [-6.87556622e-03 9.99928347e-01 -9.79935103e-03 2.36739993e+00] [-8.61390329e-04 9.79365663e-03 9.99951670e-01 2.04322851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104839173 meters Centerline goodness : 0.737847 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.37, Z:2.04 [[ 9.99974261e-01 7.17196648e-03 2.02301724e-04 -5.56389223e+00] [-7.16977490e-03 9.99931043e-01 -9.30077942e-03 2.36857874e+00] [-2.68992652e-04 9.29908956e-03 9.99956726e-01 2.03989313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134839173 meters Centerline goodness : 0.737835 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.37, Z:2.04 [[ 9.99969145e-01 7.84966481e-03 -3.04058424e-04 -5.56131453e+00] [-7.85207559e-03 9.99928982e-01 -8.96526496e-03 2.36872601e+00] [ 2.33662505e-04 8.96737583e-03 9.99959765e-01 2.03818225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839173 meters Centerline goodness : 0.734244 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.37, Z:2.04 [[ 9.99967977e-01 8.00064271e-03 -1.88355741e-04 -5.56087129e+00] [-8.00214441e-03 9.99916284e-01 -1.01681676e-02 2.37418293e+00] [ 1.06988097e-04 1.01693492e-02 9.99948285e-01 2.03836966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194839173 meters Centerline goodness : 0.738746 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.04 [[ 9.99976028e-01 6.92218965e-03 1.63377850e-04 -5.56357031e+00] [-6.91976991e-03 9.99905948e-01 -1.18411270e-02 2.37794322e+00] [-2.45329010e-04 1.18397126e-02 9.99929878e-01 2.04134740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839173 meters Centerline goodness : 0.741184 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.38, Z:2.04 [[ 9.99985014e-01 5.43523892e-03 6.54949339e-04 -5.56697368e+00] [-5.42572786e-03 9.99890876e-01 -1.37403783e-02 2.38098594e+00] [-7.29560107e-04 1.37366188e-02 9.99905382e-01 2.04472823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254839173 meters Centerline goodness : 0.737324 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.04 [[ 9.99981259e-01 6.12208505e-03 2.76441882e-05 -5.56423639e+00] [-6.12119150e-03 9.99894714e-01 -1.31564446e-02 2.38105015e+00] [-1.08186150e-04 1.31560288e-02 9.99913450e-01 2.04293443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters Centerline goodness : 0.734379 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.03 [[ 9.99965822e-01 8.17392515e-03 -1.24136811e-03 -5.55705184e+00] [-8.18526507e-03 9.99922105e-01 -9.42256698e-03 2.37907013e+00] [ 1.16425205e-03 9.43240586e-03 9.99954836e-01 2.03420751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314839173 meters Centerline goodness : 0.731351 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.03 [[ 9.99961955e-01 8.55745637e-03 -1.69042120e-03 -5.55487764e+00] [-8.57122077e-03 9.99928733e-01 -8.31045875e-03 2.37729475e+00] [ 1.61918434e-03 8.32463156e-03 9.99964039e-01 2.03179738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839173 meters Centerline goodness : 0.733873 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.03 [[ 9.99970113e-01 7.63254110e-03 -1.23181642e-03 -5.55727678e+00] [-7.64311400e-03 9.99931895e-01 -8.81973044e-03 2.37813331e+00] [ 1.16441557e-03 8.82888176e-03 9.99960347e-01 2.03325948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374839172999998 meters Centerline goodness : 0.735509 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.04 [[ 9.99969774e-01 7.66526497e-03 -1.30202772e-03 -5.55804488e+00] [-7.67752610e-03 9.99923591e-01 -9.68854577e-03 2.37988173e+00] [ 1.22766297e-03 9.69824928e-03 9.99952217e-01 2.03553307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839173 meters Centerline goodness : 0.740101 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.04 [[ 9.99974418e-01 7.07141635e-03 -1.07624761e-03 -5.56148346e+00] [-7.08253890e-03 9.99917588e-01 -1.07076967e-02 2.37800290e+00] [ 1.00044033e-03 1.07150453e-02 9.99942092e-01 2.04050430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434839173 meters Centerline goodness : 0.737742 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.04 [[ 9.99969860e-01 7.62193623e-03 -1.47791779e-03 -5.56038782e+00] [-7.63629812e-03 9.99921154e-01 -9.96854141e-03 2.37621363e+00] [ 1.40182167e-03 9.97952678e-03 9.99949221e-01 2.04025278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464839172999998 meters Centerline goodness : 0.734415 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.37, Z:2.04 [[ 9.99942300e-01 1.03189422e-02 -2.98611398e-03 -5.55324083e+00] [-1.03418148e-02 9.99916501e-01 -7.74836537e-03 2.37499043e+00] [ 2.90590971e-03 7.77880012e-03 9.99965522e-01 2.03571991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494839173 meters Centerline goodness : 0.732315 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.37, Z:2.03 [[ 9.99918424e-01 1.21361658e-02 -3.98221418e-03 -5.54795077e+00] [-1.21618583e-02 9.99904965e-01 -6.49230040e-03 2.37434241e+00] [ 3.90304409e-03 6.54020191e-03 9.99970996e-01 2.03224566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524839173 meters Centerline goodness : 0.730677 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.37, Z:2.03 [[ 9.99889359e-01 1.40933056e-02 -4.75895402e-03 -5.54395536e+00] [-1.41218042e-02 9.99882227e-01 -6.00887671e-03 2.37410584e+00] [ 4.67370861e-03 6.07541690e-03 9.99970622e-01 2.03109088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554839172999998 meters Centerline goodness : 0.732399 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.03 [[ 9.99880873e-01 1.45654729e-02 -5.10748052e-03 -5.54311127e+00] [-1.45987509e-02 9.99872045e-01 -6.53993745e-03 2.37640989e+00] [ 5.01156971e-03 6.61372120e-03 9.99965571e-01 2.03206509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584839173 meters Centerline goodness : 0.735827 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.04 [[ 9.99901249e-01 1.33148325e-02 -4.49519753e-03 -5.54714707e+00] [-1.33510457e-02 9.99877864e-01 -8.12445112e-03 2.37895155e+00] [ 4.38647280e-03 8.18366441e-03 9.99956892e-01 2.03605319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614839173 meters Centerline goodness : 0.735790 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.04 [[ 9.99903926e-01 1.31163744e-02 -4.48333541e-03 -5.54748887e+00] [-1.31495286e-02 9.99885807e-01 -7.44727834e-03 2.37549298e+00] [ 4.38514216e-03 7.50551659e-03 9.99962218e-01 2.03573262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters Centerline goodness : 0.733967 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.37, Z:2.03 [[ 9.99886976e-01 1.42062336e-02 -4.92123448e-03 -5.54448289e+00] [-1.42346101e-02 9.99881977e-01 -5.77991895e-03 2.37221751e+00] [ 4.83854279e-03 5.84931753e-03 9.99971187e-01 2.03258417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674839173 meters Centerline goodness : 0.733738 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.37, Z:2.03 [[ 9.99874201e-01 1.48636054e-02 -5.53666415e-03 -5.54188006e+00] [-1.48934147e-02 9.99874601e-01 -5.38223290e-03 2.37321971e+00] [ 5.45597047e-03 5.46401566e-03 9.99970188e-01 2.03114339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839173 meters Centerline goodness : 0.734458 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.03 [[ 9.99866969e-01 1.53243870e-02 -5.58637418e-03 -5.54220355e+00] [-1.53605962e-02 9.99860908e-01 -6.49746082e-03 2.37848697e+00] [ 5.48602756e-03 6.58240650e-03 9.99963287e-01 2.03355789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734839173 meters Centerline goodness : 0.737017 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.04 [[ 9.99878271e-01 1.47001611e-02 -5.22959487e-03 -5.54456601e+00] [-1.47421871e-02 9.99858596e-01 -8.09050887e-03 2.38183717e+00] [ 5.10992360e-03 8.16661969e-03 9.99953596e-01 2.03679075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839173 meters Centerline goodness : 0.735010 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.04 [[ 9.99872569e-01 1.49797808e-02 -5.51838641e-03 -5.54451030e+00] [-1.50226994e-02 9.99856574e-01 -7.81980609e-03 2.37942035e+00] [ 5.40045595e-03 7.90171067e-03 9.99954198e-01 2.03779002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794839173 meters Centerline goodness : 0.729084 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.37, Z:2.03 [[ 0.99986761 0.01444906 -0.00748286 -5.53568551] [-0.01451237 0.99985876 -0.00847672 2.37325983] [ 0.00735932 0.00858419 0.99993607 2.03213728] [ 0. 0. 0. 1. ]] SLAMing on 22.824839173 meters Centerline goodness : 0.726867 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.37, Z:2.03 [[ 0.99983692 0.0160575 -0.00826369 -5.53127352] [-0.0161099 0.99985029 -0.00631402 2.36900217] [ 0.00816107 0.00644612 0.99994592 2.02816055] [ 0. 0. 0. 1. ]] SLAMing on 22.854839173 meters Centerline goodness : 0.726896 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.37, Z:2.02 [[ 9.99772619e-01 1.91895813e-02 -9.29893438e-03 -5.52496097e+00] [-1.92333474e-02 9.99804254e-01 -4.64022242e-03 2.36944714e+00] [ 9.20807022e-03 4.81801696e-03 9.99945998e-01 2.02477996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884839173 meters Centerline goodness : 0.726341 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.37, Z:2.03 [[ 9.99752846e-01 1.99876093e-02 -9.73356877e-03 -5.52336254e+00] [-2.00351978e-02 9.99787674e-01 -4.81638230e-03 2.37122721e+00] [ 9.63523412e-03 5.01020589e-03 9.99941028e-01 2.02508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.914839173 meters Centerline goodness : 0.728423 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.37, Z:2.03 [[ 9.99760218e-01 1.96723694e-02 -9.61787068e-03 -5.52457294e+00] [-1.97219320e-02 9.99792569e-01 -5.08577704e-03 2.37064188e+00] [ 9.51582635e-03 5.27424056e-03 9.99940814e-01 2.02643473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944839173 meters Centerline goodness : 0.729726 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.36, Z:2.02 [[ 9.99918553e-01 1.25314156e-02 -2.41883844e-03 -5.51741733e+00] [-1.25317328e-02 9.99921468e-01 -1.16029645e-04 2.36324381e+00] [ 2.41719447e-03 1.46332432e-04 9.99997068e-01 2.02364383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.974839173 meters Centerline goodness : 0.729094 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.36, Z:2.02 [[ 9.99969658e-01 7.15776846e-03 -3.07408181e-03 -5.51711542e+00] [-7.16731127e-03 9.99969495e-01 -3.10456184e-03 2.35772982e+00] [ 3.05176630e-03 3.12650054e-03 9.99990456e-01 2.02236018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004839173 meters Centerline goodness : 0.729740 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.35, Z:2.02 [[ 9.99987009e-01 3.71260692e-03 -3.49274599e-03 -5.51560423e+00] [-3.73496639e-03 9.99972435e-01 -6.41709616e-03 2.35470468e+00] [ 3.46882555e-03 6.43005808e-03 9.99973310e-01 2.02177625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034839172999998 meters Centerline goodness : 0.730140 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.35, Z:2.02 [[ 9.99994457e-01 -3.40597390e-04 -3.31208264e-03 -5.51634579e+00] [ 3.09639479e-04 9.99956305e-01 -9.34298707e-03 2.34687431e+00] [ 3.31512012e-03 9.34190973e-03 9.99950868e-01 2.02159098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064839173 meters Centerline goodness : 0.733955 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.34, Z:2.02 [[ 9.99994371e-01 -1.50493503e-03 -2.99869239e-03 -5.51884327e+00] [ 1.47744346e-03 9.99957055e-01 -9.14907457e-03 2.34400861e+00] [ 3.01233238e-03 9.14459268e-03 9.99953650e-01 2.02278189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094839173 meters Centerline goodness : 0.733239 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.34, Z:2.02 [[ 9.99992329e-01 -2.72480247e-03 -2.81376379e-03 -5.52094561e+00] [ 2.70145119e-03 9.99962157e-01 -8.26966599e-03 2.34175674e+00] [ 2.83619051e-03 8.26200131e-03 9.99961847e-01 2.02304352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124839172999998 meters Centerline goodness : 0.733588 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.34, Z:2.02 [[ 9.99992082e-01 -2.38181881e-03 -3.18789852e-03 -5.52033037e+00] [ 2.35837508e-03 9.99970298e-01 -7.33764294e-03 2.33937313e+00] [ 3.20528077e-03 7.33006658e-03 9.99967998e-01 2.02289846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154839173 meters Centerline goodness : 0.733626 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.34, Z:2.02 [[ 9.99992085e-01 -2.46174682e-03 -3.12555335e-03 -5.52114874e+00] [ 2.44086424e-03 9.99974793e-01 -6.66756884e-03 2.33671847e+00] [ 3.14188843e-03 6.65988701e-03 9.99972887e-01 2.02332508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184839173 meters Centerline goodness : 0.736598 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.33, Z:2.02 [[ 9.99992889e-01 -2.16011838e-03 -3.09126650e-03 -5.52201089e+00] [ 2.14197697e-03 9.99980536e-01 -5.85992528e-03 2.33227071e+00] [ 3.10386447e-03 5.85326219e-03 9.99978052e-01 2.02439271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214839172999998 meters Centerline goodness : 0.733157 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.33, Z:2.02 [[ 9.99990748e-01 6.88268417e-05 -4.30101464e-03 -5.51609502e+00] [-8.26156027e-05 9.99994858e-01 -3.20583669e-03 2.32638582e+00] [ 4.30077188e-03 3.20616236e-03 9.99985612e-01 2.01974532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244839173 meters Centerline goodness : 0.733040 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.32, Z:2.02 [[ 9.99987152e-01 9.24488003e-04 -4.98409800e-03 -5.51357163e+00] [-9.37210006e-04 9.99996308e-01 -2.55078759e-03 2.32461742e+00] [ 4.98172142e-03 2.55542596e-03 9.99984326e-01 2.01862255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274839173 meters Centerline goodness : 0.733519 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99985679e-01 1.19046612e-03 -5.21763452e-03 -5.51334281e+00] [-1.20667555e-03 9.99994453e-01 -3.10461807e-03 2.32524100e+00] [ 5.21390963e-03 3.11086960e-03 9.99981569e-01 2.02006994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304839172999998 meters Centerline goodness : 0.733659 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99984364e-01 1.45568750e-03 -5.39939350e-03 -5.51303897e+00] [-1.47627976e-03 9.99991645e-01 -3.81178709e-03 2.32897945e+00] [ 5.39379962e-03 3.81969850e-03 9.99978158e-01 2.02112038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334839173 meters Centerline goodness : 0.735896 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.33, Z:2.02 [[ 9.99979919e-01 4.00481557e-03 -4.91143911e-03 -5.51651887e+00] [-4.01237771e-03 9.99990779e-01 -1.53081394e-03 2.33344345e+00] [ 4.90526319e-03 1.55048975e-03 9.99986767e-01 2.02451478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839173 meters Centerline goodness : 0.733139 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99981452e-01 2.67971143e-03 -5.46947826e-03 -5.51269509e+00] [-2.70126189e-03 9.99988603e-01 -3.93655432e-03 2.33347438e+00] [ 5.45886710e-03 3.95125580e-03 9.99977294e-01 2.02261717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394839172999998 meters Centerline goodness : 0.733467 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99979685e-01 3.03760118e-03 -5.60380142e-03 -5.51127156e+00] [-3.05390895e-03 9.99991121e-01 -2.90386963e-03 2.33060520e+00] [ 5.59493087e-03 2.92092414e-03 9.99980082e-01 2.02049022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839173 meters Centerline goodness : 0.732603 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99980851e-01 2.72562431e-05 -6.18847456e-03 -5.50867652e+00] [-6.63305404e-05 9.99980065e-01 -6.31392601e-03 2.33008816e+00] [ 6.18817910e-03 6.31421558e-03 9.99960918e-01 2.01923007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454839173 meters Centerline goodness : 0.733284 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.02 [[ 9.99979605e-01 -5.42306097e-05 -6.38648986e-03 -5.50739868e+00] [ 2.49611920e-05 9.99989498e-01 -4.58301162e-03 2.32625006e+00] [ 6.38667132e-03 4.58275873e-03 9.99969104e-01 2.01612104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484839173 meters Centerline goodness : 0.736479 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.32, Z:2.01 [[ 9.99978657e-01 -1.64165501e-04 -6.53142783e-03 -5.50658359e+00] [ 1.39687950e-04 9.99992967e-01 -3.74793668e-03 2.32436936e+00] [ 6.53199717e-03 3.74694432e-03 9.99971646e-01 2.01451660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514839173 meters Centerline goodness : 0.733984 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.32, Z:2.02 [[ 9.99979809e-01 -2.01180060e-03 -6.02771144e-03 -5.50933227e+00] [ 1.98833406e-03 9.99990432e-01 -3.89657664e-03 2.32137549e+00] [ 6.03549290e-03 3.88451286e-03 9.99974241e-01 2.01505108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544839173 meters Centerline goodness : 0.732874 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.32, Z:2.01 [[ 9.99981021e-01 -2.42622363e-03 -5.66320948e-03 -5.51044638e+00] [ 2.40598094e-03 9.99990703e-01 -3.57849995e-03 2.31950840e+00] [ 5.67183907e-03 3.56480645e-03 9.99977561e-01 2.01482391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574839173 meters Centerline goodness : 0.734275 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.32, Z:2.01 [[ 9.99964825e-01 -5.15128396e-03 -6.61914947e-03 -5.50644927e+00] [ 5.11130907e-03 9.99968683e-01 -6.04206831e-03 2.31665307e+00] [ 6.65006659e-03 6.00802327e-03 9.99959839e-01 2.01232792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604839173 meters Centerline goodness : 0.731523 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.31, Z:2.01 [[ 9.99966176e-01 -4.10690507e-03 -7.12605404e-03 -5.50390607e+00] [ 4.07530254e-03 9.99981823e-01 -4.44365444e-03 2.31324542e+00] [ 7.14417418e-03 4.41446331e-03 9.99964736e-01 2.01008843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634839173 meters Centerline goodness : 0.733811 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.31, Z:2.01 [[ 9.99967822e-01 -1.37407393e-03 -7.90358151e-03 -5.50034346e+00] [ 1.34320977e-03 9.99991457e-01 -3.90906833e-03 2.31376382e+00] [ 7.90888535e-03 3.89832637e-03 9.99961126e-01 2.01069301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839173 meters Centerline goodness : 0.735901 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.32, Z:2.01 [[ 9.99960026e-01 4.27750214e-03 -7.85166249e-03 -5.50033593e+00] [-4.27755528e-03 9.99990851e-01 1.00253818e-05 2.31693294e+00] [ 7.85163354e-03 2.35609392e-05 9.99969175e-01 2.01259024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694839173 meters Centerline goodness : 0.738030 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.32, Z:2.02 [[ 9.99958867e-01 4.33524761e-03 -7.96681486e-03 -5.50124560e+00] [-4.34440169e-03 9.99989922e-01 -1.13208037e-03 2.31908086e+00] [ 7.96182672e-03 1.16664485e-03 9.99967624e-01 2.01564161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839173 meters Centerline goodness : 0.735644 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.32, Z:2.02 [[ 9.99957066e-01 4.19012879e-03 -8.26493088e-03 -5.50181904e+00] [-4.20168974e-03 9.99990218e-01 -1.38192796e-03 2.31811564e+00] [ 8.25905957e-03 1.41659530e-03 9.99964890e-01 2.01758717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754839173 meters Centerline goodness : 0.736214 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.31, Z:2.02 [[ 9.99959829e-01 8.14024003e-04 -8.92628370e-03 -5.49991863e+00] [-8.50662305e-04 9.99991227e-01 -4.10151328e-03 2.31356347e+00] [ 8.92286666e-03 4.10894177e-03 9.99951748e-01 2.01675864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters Centerline goodness : 0.732382 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.31, Z:2.01 [[ 0.99993275 -0.00655363 -0.00956769 -5.49687505] [ 0.00646606 0.99993719 -0.00915472 2.30602664] [ 0.00962708 0.00909224 0.99991232 2.01257403] [ 0. 0. 0. 1. ]] SLAMing on 23.814839173 meters Centerline goodness : 0.732382 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.31, Z:2.01 [[ 0.99993275 -0.00655363 -0.00956769 -5.49687505] [ 0.00646606 0.99993719 -0.00915472 2.30602664] [ 0.00962708 0.00909224 0.99991232 2.01257403] [ 0. 0. 0. 1. ]] SLAMing on 23.844839173 meters Centerline goodness : 0.732834 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.30, Z:2.01 [[ 0.99990191 -0.00986528 -0.00994221 -5.49486743] [ 0.00974685 0.99988181 -0.01189004 2.30214574] [ 0.01005833 0.01179197 0.99987988 2.01084904] [ 0. 0. 0. 1. ]] SLAMing on 23.874839172999998 meters Centerline goodness : 0.729358 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.30, Z:2.01 [[ 0.99986587 -0.01216493 -0.01096611 -5.48975212] [ 0.01202631 0.99984805 -0.01261936 2.29548017] [ 0.01111796 0.01248579 0.99986024 2.00578304] [ 0. 0. 0. 1. ]] SLAMing on 23.904839173 meters Centerline goodness : 0.730179 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.00 [[ 0.99990802 -0.00801508 -0.01094097 -5.488971 ] [ 0.007935 0.99994155 -0.00734364 2.29265168] [ 0.01099919 0.00725615 0.99991318 2.00337898] [ 0. 0. 0. 1. ]] SLAMing on 23.934839173 meters Centerline goodness : 0.730729 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.00 [[ 9.99932107e-01 -4.20664312e-03 -1.08667579e-02 -5.48928986e+00] [ 4.17672525e-03 9.99987429e-01 -2.77438406e-03 2.29044780e+00] [ 1.08782921e-02 2.72880824e-03 9.99937106e-01 2.00280389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964839172999998 meters Centerline goodness : 0.732888 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99933202e-01 -4.46889595e-03 -1.06592622e-02 -5.49189353e+00] [ 4.42848529e-03 9.99982929e-01 -3.81172552e-03 2.29069495e+00] [ 1.06761145e-02 3.76426652e-03 9.99935923e-01 2.00713173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994839173 meters Centerline goodness : 0.736694 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.29, Z:2.01 [[ 9.99962465e-01 -7.02308634e-03 5.07394116e-03 -5.50103004e+00] [ 7.02510959e-03 9.99975251e-01 -3.81040865e-04 2.28737370e+00] [-5.07113950e-03 4.16671555e-04 9.99987055e-01 2.00614377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839173 meters Centerline goodness : 0.739328 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.29, Z:2.01 [[ 9.99945353e-01 -8.78863844e-03 5.66140059e-03 -5.50497094e+00] [ 8.79487497e-03 9.99960744e-01 -1.07763500e-03 2.28608431e+00] [-5.65170740e-03 1.12736742e-03 9.99983393e-01 2.00908394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054839172999998 meters Centerline goodness : 0.740011 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.29, Z:2.01 [[ 9.99929769e-01 -1.03020601e-02 5.85879807e-03 -5.50846141e+00] [ 1.03122396e-02 9.99945365e-01 -1.70992379e-03 2.28505140e+00] [-5.84086224e-03 1.77022103e-03 9.99981375e-01 2.01279076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839173 meters Centerline goodness : 0.740088 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.29, Z:2.01 [[ 9.99947704e-01 -8.99502525e-03 4.86604708e-03 -5.50483254e+00] [ 8.99976715e-03 9.99959047e-01 -9.53469281e-04 2.28544106e+00] [-4.85727132e-03 9.97212709e-04 9.99987706e-01 2.01128415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114839173 meters Centerline goodness : 0.736599 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.28, Z:2.01 [[ 9.99981388e-01 -4.30806394e-03 4.32012132e-03 -5.50274631e+00] [ 4.29192931e-03 9.99983807e-01 3.73710405e-03 2.28377766e+00] [-4.33615104e-03 -3.71849284e-03 9.99983685e-01 2.00991043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters Centerline goodness : 0.737605 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.28, Z:2.01 [[ 9.99994953e-01 -1.16248463e-03 2.95694694e-03 -5.49716864e+00] [ 1.14886122e-03 9.99988738e-01 4.60479092e-03 2.28291677e+00] [-2.96226664e-03 -4.60137056e-03 9.99985026e-01 2.00873848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174839173 meters Centerline goodness : 0.736978 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99997972e-01 6.25172025e-04 1.91430133e-03 -5.49249057e+00] [-6.36504715e-04 9.99982244e-01 5.92513851e-03 2.28053419e+00] [-1.91056311e-03 -5.92634495e-03 9.99980614e-01 2.00593490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839173 meters Centerline goodness : 0.735968 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99998153e-01 7.29872540e-04 1.77798413e-03 -5.49197997e+00] [-7.41070636e-04 9.99979844e-01 6.30570230e-03 2.27909114e+00] [-1.77334594e-03 -6.30700827e-03 9.99978538e-01 2.00546302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234839173 meters Centerline goodness : 0.737403 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99997906e-01 -3.89335561e-04 2.00908401e-03 -5.49403373e+00] [ 3.77751840e-04 9.99983323e-01 5.76283498e-03 2.27823074e+00] [-2.01129418e-03 -5.76206397e-03 9.99981376e-01 2.00715047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839173 meters Centerline goodness : 0.736271 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99998006e-01 -7.54704061e-04 1.84865201e-03 -5.49418790e+00] [ 7.45287597e-04 9.99986773e-01 5.08909580e-03 2.28049487e+00] [-1.85246832e-03 -5.08770788e-03 9.99985342e-01 2.00798716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294839173 meters Centerline goodness : 0.739661 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99997832e-01 -1.36192648e-03 1.57535208e-03 -5.49462932e+00] [ 1.35569358e-03 9.99991276e-01 3.95083968e-03 2.28344843e+00] [-1.58071909e-03 -3.94869542e-03 9.99990955e-01 2.00971290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839173 meters Centerline goodness : 0.738319 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.28, Z:2.01 [[ 9.99997436e-01 -1.74317473e-03 1.44517847e-03 -5.49428121e+00] [ 1.73803448e-03 9.99992187e-01 3.55048925e-03 2.28477786e+00] [-1.45135630e-03 -3.54796837e-03 9.99992653e-01 2.00943829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354839173 meters Centerline goodness : 0.736735 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99988247e-01 -4.77350306e-03 8.48418069e-04 -5.49187560e+00] [ 4.77369239e-03 9.99988581e-01 -2.21275680e-04 2.28716691e+00] [-8.47352122e-04 2.25323166e-04 9.99999616e-01 2.00858976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839173 meters Centerline goodness : 0.737018 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99988565e-01 -4.70798093e-03 8.39642604e-04 -5.49084447e+00] [ 4.70809427e-03 9.99988908e-01 -1.33068851e-04 2.28812980e+00] [-8.39006805e-04 1.37020446e-04 9.99999639e-01 2.00700518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414839173 meters Centerline goodness : 0.737234 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99989851e-01 -4.47538501e-03 5.18499673e-04 -5.48943483e+00] [ 4.47544893e-03 9.99989978e-01 -1.22184609e-04 2.28889287e+00] [-5.17947653e-04 1.24503887e-04 9.99999858e-01 2.00606492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839173 meters Centerline goodness : 0.738879 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99987658e-01 -4.93191428e-03 6.00146561e-04 -5.49031681e+00] [ 4.93282460e-03 9.99986671e-01 -1.52492244e-03 2.29345582e+00] [-5.92617775e-04 1.52786404e-03 9.99998657e-01 2.00761033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474839173 meters Centerline goodness : 0.739563 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.01 [[ 9.99989884e-01 -4.49629184e-03 1.23780434e-04 -5.48866559e+00] [ 4.49646944e-03 9.99988805e-01 -1.47398609e-03 2.29430034e+00] [-1.17151576e-04 1.47452775e-03 9.99998906e-01 2.00701849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839173 meters Centerline goodness : 0.732919 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.29, Z:2.00 [[ 9.99996005e-01 -1.38018858e-03 -2.46697564e-03 -5.47467896e+00] [ 1.37717080e-03 9.99998302e-01 -1.22455154e-03 2.29317324e+00] [ 2.46866157e-03 1.22114920e-03 9.99996207e-01 1.99932401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534839172999998 meters Centerline goodness : 0.732532 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.29, Z:2.00 [[ 9.99994854e-01 -2.33565462e-04 -3.19950611e-03 -5.47077168e+00] [ 2.31470032e-04 9.99999759e-01 -6.55277426e-04 2.29333795e+00] [ 3.19965839e-03 6.54533465e-04 9.99994667e-01 1.99651664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839173 meters Centerline goodness : 0.735430 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.30, Z:2.00 [[ 9.99993488e-01 2.44208323e-03 -2.65717930e-03 -5.47340387e+00] [-2.43866899e-03 9.99996198e-01 1.28739380e-03 2.30061644e+00] [ 2.66031312e-03 -1.28090543e-03 9.99995641e-01 1.99871448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594839173 meters Centerline goodness : 0.738561 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.30, Z:2.00 [[ 9.99988301e-01 -4.89175376e-04 4.81243390e-03 -5.46512622e+00] [ 4.61329192e-04 9.99983156e-01 5.78570903e-03 2.30457939e+00] [-4.81518307e-03 -5.78342123e-03 9.99971683e-01 1.99936753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624839172999998 meters Centerline goodness : 0.736394 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99964614e-01 -6.37553240e-03 5.48846311e-03 -5.46991677e+00] [ 6.37908044e-03 9.99979456e-01 -6.29190848e-04 2.30868777e+00] [-5.48433893e-03 6.64179931e-04 9.99984740e-01 2.00450824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654839173 meters Centerline goodness : 0.736848 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99936563e-01 -1.00137157e-02 5.15716516e-03 -5.46871401e+00] [ 1.00373401e-02 9.99939156e-01 -4.57556373e-03 2.30823828e+00] [-5.11103299e-03 4.62703769e-03 9.99976234e-01 2.00434988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684839173 meters Centerline goodness : 0.736198 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.30, Z:2.00 [[ 9.99895599e-01 -1.36826473e-02 4.64498103e-03 -5.46543210e+00] [ 1.37131738e-02 9.99884155e-01 -6.60494141e-03 2.30322815e+00] [-4.55406985e-03 6.66794928e-03 9.99967399e-01 1.99962258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714839172999998 meters Centerline goodness : 0.735634 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99870693e-01 -1.52887332e-02 4.98522893e-03 -5.46711971e+00] [ 1.53270752e-02 9.99852531e-01 -7.74582132e-03 2.30736254e+00] [-4.86606997e-03 7.82122871e-03 9.99957574e-01 2.00005174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744839173 meters Centerline goodness : 0.736488 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99900752e-01 -1.30206839e-02 5.38025029e-03 -5.46968496e+00] [ 1.30436857e-02 9.99905842e-01 -4.26249285e-03 2.30773340e+00] [-5.32424313e-03 4.33224810e-03 9.99976442e-01 2.00075071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774839173 meters Centerline goodness : 0.739105 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99924426e-01 -1.08719347e-02 5.73971182e-03 -5.47241597e+00] [ 1.08771408e-02 9.99940458e-01 -8.76589710e-04 2.30750214e+00] [-5.72983984e-03 9.38955116e-04 9.99983144e-01 2.00183186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804839172999998 meters Centerline goodness : 0.743085 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99917357e-01 -1.15768102e-02 5.59074753e-03 -5.47339550e+00] [ 1.15918458e-02 9.99929262e-01 -2.66449348e-03 2.31354874e+00] [-5.55950572e-03 2.72908036e-03 9.99980822e-01 2.00421258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834839173 meters Centerline goodness : 0.744478 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.01 [[ 9.99908837e-01 -1.22271737e-02 5.72829073e-03 -5.47472790e+00] [ 1.22470386e-02 9.99919065e-01 -3.44571788e-03 2.31514176e+00] [-5.68569572e-03 3.51555835e-03 9.99977657e-01 2.00561847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864839173 meters Centerline goodness : 0.745891 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.31, Z:2.01 [[ 9.99880270e-01 -1.42590567e-02 6.01037328e-03 -5.47714303e+00] [ 1.42835326e-02 9.99889786e-01 -4.04921995e-03 2.31367072e+00] [-5.95197280e-03 4.13458450e-03 9.99973739e-01 2.00650365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894839172999998 meters Centerline goodness : 0.743013 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.31, Z:2.00 [[ 9.99888154e-01 -1.38047244e-02 5.75400322e-03 -5.47543713e+00] [ 1.38237988e-02 9.99899039e-01 -3.28849726e-03 2.31236571e+00] [-5.70802549e-03 3.36767164e-03 9.99978038e-01 2.00463397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924839173 meters Centerline goodness : 0.744466 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99897280e-01 -1.32592519e-02 5.44263634e-03 -5.47370865e+00] [ 1.32763707e-02 9.99906993e-01 -3.12131953e-03 2.31289101e+00] [-5.40074378e-03 3.19325737e-03 9.99980317e-01 2.00345182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954839173 meters Centerline goodness : 0.745694 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.31, Z:2.00 [[ 9.99904319e-01 -1.28763462e-02 5.05496663e-03 -5.47273317e+00] [ 1.28933228e-02 9.99911298e-01 -3.34030523e-03 2.31427374e+00] [-5.01150732e-03 3.40516094e-03 9.99981645e-01 2.00378532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984839173 meters Centerline goodness : 0.744995 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 9.99959236e-01 -7.99758538e-03 4.19112451e-03 -5.47059415e+00] [ 7.99463933e-03 9.99967784e-01 7.19208520e-04 2.31623709e+00] [-4.19674142e-03 -6.85672674e-04 9.99990959e-01 2.00401913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014839173 meters Centerline goodness : 0.746327 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 9.99970717e-01 -6.83316777e-03 3.44559919e-03 -5.46822981e+00] [ 6.83062306e-03 9.99976390e-01 7.49766707e-04 2.31773251e+00] [-3.45064112e-03 -7.26209163e-04 9.99993783e-01 2.00414351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044839173 meters Centerline goodness : 0.746291 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 9.99990646e-01 -2.73089760e-03 3.35417878e-03 -5.46830446e+00] [ 2.71469961e-03 9.99984678e-01 4.82429361e-03 2.31627560e+00] [-3.36730204e-03 -4.81514290e-03 9.99982738e-01 2.00456504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074839173 meters Centerline goodness : 0.746584 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 9.99993534e-01 -2.26211695e-03 2.79534544e-03 -5.46682600e+00] [ 2.24952786e-03 9.99987351e-01 4.49855710e-03 2.31767022e+00] [-2.80548634e-03 -4.49223980e-03 9.99985974e-01 2.00490114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104839173 meters Centerline goodness : 0.746738 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:2.00 [[ 9.99996720e-01 1.95118107e-03 1.65932965e-03 -5.45990016e+00] [-1.96186729e-03 9.99977190e-01 6.46303054e-03 2.31871743e+00] [-1.64668126e-03 -6.46626472e-03 9.99977738e-01 2.00147428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134839173 meters Centerline goodness : 0.743832 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.00 [[ 9.99981595e-01 6.02656553e-03 7.00218028e-04 -5.45290756e+00] [-6.03258273e-03 9.99941886e-01 8.93493605e-03 2.31862802e+00] [-6.46330357e-04 -8.93899572e-03 9.99959837e-01 1.99674657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839173 meters Centerline goodness : 0.742901 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.00 [[ 9.99976913e-01 6.79343759e-03 1.48834291e-04 -5.45089070e+00] [-6.79447236e-03 9.99939364e-01 8.66622117e-03 2.32074229e+00] [-8.99518339e-05 -8.66703235e-03 9.99962437e-01 1.99663396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194839173 meters Centerline goodness : 0.742636 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.00 [[ 9.99969424e-01 7.80477199e-03 -4.86636743e-04 -5.44862478e+00] [-7.80059289e-03 9.99937028e-01 8.06788995e-03 2.32443652e+00] [ 5.49574141e-04 -8.06384721e-03 9.99967336e-01 1.99692330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224839173 meters Centerline goodness : 0.742522 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.00 [[ 9.99972211e-01 7.44397895e-03 -4.04904117e-04 -5.44991602e+00] [-7.44127598e-03 9.99952397e-01 6.31111522e-03 2.32903382e+00] [ 4.51864651e-04 -6.30792684e-03 9.99980003e-01 1.99977047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254839173 meters Centerline goodness : 0.744828 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.00 [[ 9.99991651e-01 3.99732674e-03 -8.48147340e-04 -5.44920995e+00] [-3.99589660e-03 9.99990603e-01 1.68124599e-03 2.33057061e+00] [ 8.54859860e-04 -1.67784284e-03 9.99998227e-01 2.00142281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999998 meters Centerline goodness : 0.743387 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.00 [[ 9.99996768e-01 2.04722941e-03 -1.50787894e-03 -5.44617538e+00] [-2.05055277e-03 9.99995465e-01 -2.20575964e-03 2.33051439e+00] [ 1.50335641e-03 2.20884449e-03 9.99996430e-01 2.00174042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314839173 meters Centerline goodness : 0.741743 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99994100e-01 2.79634367e-03 -1.99510701e-03 -5.44439675e+00] [-2.79975269e-03 9.99994622e-01 -1.70794974e-03 2.32992529e+00] [ 1.99032027e-03 1.71352547e-03 9.99996551e-01 2.00105756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344839173 meters Centerline goodness : 0.737341 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99986738e-01 4.34773047e-03 -2.76058651e-03 -5.44057584e+00] [-4.35106986e-03 9.99989808e-01 -1.20481511e-03 2.33042489e+00] [ 2.75532016e-03 1.21681063e-03 9.99995464e-01 1.99919086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374839172999998 meters Centerline goodness : 0.737005 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99993959e-01 1.40535261e-03 -3.17925457e-03 -5.43871775e+00] [-1.41831618e-03 9.99990675e-01 -4.07897629e-03 2.32623233e+00] [ 3.17349252e-03 4.08346083e-03 9.99986627e-01 1.99825434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404839173 meters Centerline goodness : 0.736505 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99996322e-01 5.83380356e-04 -2.64884646e-03 -5.44068115e+00] [-5.92691223e-04 9.99993644e-01 -3.51564123e-03 2.32207776e+00] [ 2.64677867e-03 3.51719825e-03 9.99990312e-01 1.99812520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434839173 meters Centerline goodness : 0.736707 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99990203e-01 -3.67101275e-03 -2.47339361e-03 -5.44240644e+00] [ 3.65257034e-03 9.99965800e-01 -7.42002568e-03 2.31923912e+00] [ 2.50054803e-03 7.41091874e-03 9.99969412e-01 2.00007095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464839172999998 meters Centerline goodness : 0.736900 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99988556e-01 -4.21747003e-03 -2.25865625e-03 -5.44375579e+00] [ 4.20133540e-03 9.99965960e-01 -7.10118910e-03 2.31751207e+00] [ 2.28852841e-03 7.09161846e-03 9.99972235e-01 2.00052040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494839173 meters Centerline goodness : 0.738322 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99986824e-01 -4.61358399e-03 -2.25082504e-03 -5.44407274e+00] [ 4.59815753e-03 9.99966230e-01 -6.81139032e-03 2.31687164e+00] [ 2.28217395e-03 6.80095093e-03 9.99974269e-01 2.00024630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839173 meters Centerline goodness : 0.736292 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99987384e-01 -4.22046903e-03 -2.72369623e-03 -5.44212343e+00] [ 4.20367541e-03 9.99972300e-01 -6.14229604e-03 2.31711473e+00] [ 2.74954416e-03 6.13076901e-03 9.99977427e-01 1.99864883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554839172999998 meters Centerline goodness : 0.738587 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99988490e-01 -3.58849113e-03 -3.18463292e-03 -5.44055494e+00] [ 3.57168031e-03 9.99979741e-01 -5.26881088e-03 2.31533165e+00] [ 3.20347548e-03 5.25737575e-03 9.99981049e-01 1.99779190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839173 meters Centerline goodness : 0.669034 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99988251e-01 -3.91884061e-03 -2.85307697e-03 -5.44171990e+00] [ 3.90459517e-03 9.99979969e-01 -4.98157410e-03 2.31209392e+00] [ 2.87254182e-03 4.97037546e-03 9.99983522e-01 1.99803947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614839173 meters Centerline goodness : 0.738451 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99944145e-01 -9.66613062e-03 4.27464686e-03 -5.43326626e+00] [ 9.67318144e-03 9.99951882e-01 -1.63186386e-03 2.31090540e+00] [-4.25866736e-03 1.67312214e-03 9.99989532e-01 1.99750571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters Centerline goodness : 0.741284 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99941983e-01 -9.88739928e-03 4.27442422e-03 -5.43380432e+00] [ 9.89538058e-03 9.99949328e-01 -1.85012351e-03 2.31099137e+00] [-4.25591471e-03 1.89231323e-03 9.99989153e-01 1.99817315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674839173 meters Centerline goodness : 0.740526 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99946070e-01 -9.54993160e-03 4.08126974e-03 -5.43275190e+00] [ 9.55624864e-03 9.99953166e-01 -1.53112310e-03 2.31021428e+00] [-4.06645648e-03 1.57004216e-03 9.99990499e-01 1.99732934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704839173 meters Centerline goodness : 0.740526 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99946070e-01 -9.54993160e-03 4.08126974e-03 -5.43275190e+00] [ 9.55624864e-03 9.99953166e-01 -1.53112310e-03 2.31021428e+00] [-4.06645648e-03 1.57004216e-03 9.99990499e-01 1.99732934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734839172999997 meters Centerline goodness : 0.740627 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99953702e-01 -8.93092348e-03 3.58231025e-03 -5.43171014e+00] [ 8.94004887e-03 9.99956812e-01 -2.53947406e-03 2.31388534e+00] [-3.55947569e-03 2.57138251e-03 9.99990359e-01 1.99889612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764839173 meters Centerline goodness : 0.745443 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99972658e-01 -6.30033338e-03 3.87154804e-03 -5.43513547e+00] [ 6.30133990e-03 9.99980116e-01 -2.47835916e-04 2.31795210e+00] [-3.86990961e-03 2.72225080e-04 9.99992475e-01 2.00282739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794839173 meters Centerline goodness : 0.741985 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99980600e-01 -5.35782969e-03 3.17700165e-03 -5.43264786e+00] [ 5.35681782e-03 9.99985599e-01 3.26920595e-04 2.31748770e+00] [-3.17870748e-03 -3.09895633e-04 9.99994900e-01 2.00194645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824839173 meters Centerline goodness : 0.741715 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99997261e-01 2.72300083e-04 2.32482296e-03 -5.42858145e+00] [-2.83138653e-04 9.99989088e-01 4.66305012e-03 2.31901128e+00] [-2.32352784e-03 -4.66369559e-03 9.99986425e-01 1.99999919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854839173 meters Centerline goodness : 0.744342 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99997837e-01 3.75773233e-04 2.04557016e-03 -5.42844956e+00] [-3.83386952e-04 9.99992996e-01 3.72293348e-03 2.32152714e+00] [-2.04415686e-03 -3.72370967e-03 9.99990978e-01 2.00159575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839173 meters Centerline goodness : 0.743592 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99998300e-01 3.92742838e-04 1.80153279e-03 -5.42816414e+00] [-3.98141768e-04 9.99995428e-01 2.99747452e-03 2.32331562e+00] [-1.80034732e-03 -2.99818669e-03 9.99993885e-01 2.00257325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914839173 meters Centerline goodness : 0.744089 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99998813e-01 3.08878165e-04 1.50939590e-03 -5.42778828e+00] [-3.12946128e-04 9.99996318e-01 2.69560093e-03 2.32435103e+00] [-1.50855773e-03 -2.69607009e-03 9.99995228e-01 2.00309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839173 meters Centerline goodness : 0.743007 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99994692e-01 -3.03323701e-03 1.18934083e-03 -5.42647170e+00] [ 3.03413351e-03 9.99995114e-01 -7.52699226e-04 2.32306023e+00] [-1.18705191e-03 7.56303850e-04 9.99999009e-01 2.00260460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974839173 meters Centerline goodness : 0.743074 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99992181e-01 -3.62652640e-03 1.57693998e-03 -5.42816206e+00] [ 3.62768720e-03 9.99993151e-01 -7.33877215e-04 2.32125990e+00] [-1.57426776e-03 7.39592121e-04 9.99998487e-01 2.00324410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839173 meters Centerline goodness : 0.743404 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99990946e-01 -3.88286736e-03 1.74129391e-03 -5.42897047e+00] [ 3.88369416e-03 9.99992347e-01 -4.71685995e-04 2.31955842e+00] [-1.73944909e-03 4.78444378e-04 9.99998373e-01 2.00354639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034839172999998 meters Centerline goodness : 0.745453 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99987763e-01 -4.64173407e-03 1.71096549e-03 -5.42988816e+00] [ 4.64288740e-03 9.99988997e-01 -6.70727116e-04 2.32093205e+00] [-1.70783333e-03 6.78662728e-04 9.99998311e-01 2.00423317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064839173 meters Centerline goodness : 0.747124 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99987984e-01 -4.60287599e-03 1.68705509e-03 -5.42986873e+00] [ 4.60303134e-03 9.99989402e-01 -8.82107985e-05 2.31914530e+00] [-1.68663119e-03 9.59753060e-05 9.99998573e-01 2.00386851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094839173 meters Centerline goodness : 0.746682 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99989819e-01 -4.24688873e-03 1.52476455e-03 -5.42926822e+00] [ 4.24629877e-03 9.99990908e-01 3.89943598e-04 2.31766032e+00] [-1.52640674e-03 -3.83465022e-04 9.99998762e-01 2.00350164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124839172999998 meters Centerline goodness : 0.748781 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.01 [[ 9.99973777e-01 -7.11287901e-03 1.36107892e-03 -5.42900443e+00] [ 7.11788176e-03 9.99967797e-01 -3.70672595e-03 2.31647196e+00] [-1.33466960e-03 3.71631675e-03 9.99992204e-01 2.00562783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154839173 meters Centerline goodness : 0.754054 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99973045e-01 -7.18817686e-03 1.49644458e-03 -5.43026262e+00] [ 7.19341650e-03 9.99967911e-01 -3.52596090e-03 2.31444895e+00] [-1.47105133e-03 3.53663041e-03 9.99992664e-01 2.00696069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184839173 meters Centerline goodness : 0.755829 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99976140e-01 -6.80453525e-03 1.19057147e-03 -5.42961212e+00] [ 6.80801864e-03 9.99972484e-01 -2.94664176e-03 2.31264104e+00] [-1.17048819e-03 2.95467689e-03 9.99994950e-01 2.00701758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214839172999998 meters Centerline goodness : 0.753673 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99977139e-01 -6.71000756e-03 8.34965849e-04 -5.42868641e+00] [ 6.71134217e-03 9.99976189e-01 -1.60599519e-03 2.30926039e+00] [-8.24169728e-04 1.61156222e-03 9.99998362e-01 2.00578928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244839173 meters Centerline goodness : 0.755055 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99970643e-01 -7.58318836e-03 1.09957324e-03 -5.43032176e+00] [ 7.58468445e-03 9.99970307e-01 -1.36288586e-03 2.30776292e+00] [-1.08920557e-03 1.37118577e-03 9.99998467e-01 2.00620281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274839173 meters Centerline goodness : 0.758747 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99904163e-01 -1.36695853e-02 2.19257533e-03 -5.43547474e+00] [ 1.36825940e-02 9.99888194e-01 -6.03208370e-03 2.30487331e+00] [-2.10987410e-03 6.06150572e-03 9.99979403e-01 2.00926030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304839172999998 meters Centerline goodness : 0.759749 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99891263e-01 -1.45435017e-02 2.43901433e-03 -5.43698165e+00] [ 1.45571226e-02 9.99878003e-01 -5.66304482e-03 2.30162151e+00] [-2.35635628e-03 5.69793407e-03 9.99980990e-01 2.00958323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334839173 meters Centerline goodness : 0.764186 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99861927e-01 -1.64381961e-02 2.43162020e-03 -5.43786443e+00] [ 1.64524644e-02 9.99846831e-01 -5.96908472e-03 2.29913197e+00] [-2.33312677e-03 6.00826670e-03 9.99979228e-01 2.00907128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364839173 meters Centerline goodness : 0.764426 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99903961e-01 -1.36326607e-02 2.49382847e-03 -5.43908371e+00] [ 1.36372779e-02 9.99905308e-01 -1.84388154e-03 2.29760753e+00] [-2.46845532e-03 1.87771349e-03 9.99995190e-01 2.00892069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394839172999998 meters Centerline goodness : 0.768475 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99923379e-01 -1.19684230e-02 3.16111551e-03 -5.44297764e+00] [ 1.19664519e-02 9.99928194e-01 6.41723015e-04 2.30013786e+00] [-3.16856893e-03 -6.03846509e-04 9.99994798e-01 2.01090446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424839173 meters Centerline goodness : 0.768882 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.01 [[ 9.99917433e-01 -1.24578222e-02 3.15132224e-03 -5.44362282e+00] [ 1.24596924e-02 9.99922210e-01 -5.74524940e-04 2.30411521e+00] [-3.14391977e-03 6.13742008e-04 9.99994870e-01 2.01219800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454839173 meters Centerline goodness : 0.768453 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.30, Z:2.01 [[ 9.99905231e-01 -1.32978681e-02 3.56314537e-03 -5.44508878e+00] [ 1.33020042e-02 9.99910875e-01 -1.13960817e-03 2.30413616e+00] [-3.54767344e-03 1.18689715e-03 9.99993003e-01 2.01250751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484839172999997 meters Centerline goodness : 0.770476 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.30, Z:2.01 [[ 9.99896106e-01 -1.39282888e-02 3.71206339e-03 -5.44566506e+00] [ 1.39308980e-02 9.99902730e-01 -6.77981605e-04 2.30152999e+00] [-3.70225919e-03 7.29623544e-04 9.99992880e-01 2.01191511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514839173 meters Centerline goodness : 0.774330 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.02 [[ 9.99897014e-01 -1.34875792e-02 4.90378632e-03 -5.45240087e+00] [ 1.34835763e-02 9.99908733e-01 8.48433254e-04 2.30752999e+00] [-4.91478208e-03 -7.82225300e-04 9.99987616e-01 2.01555367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544839173 meters Centerline goodness : 0.775763 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.02 [[ 9.99901739e-01 -1.33058670e-02 4.41205924e-03 -5.45143443e+00] [ 1.33044021e-02 9.99911427e-01 3.61212831e-04 2.31087944e+00] [-4.41647470e-03 -3.02477528e-04 9.99990202e-01 2.01603829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574839173 meters Centerline goodness : 0.775457 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99927264e-01 -1.13640756e-02 4.04040426e-03 -5.44870221e+00] [ 1.13612299e-02 9.99935195e-01 7.26566363e-04 2.31383106e+00] [-4.04839918e-03 -6.80609553e-04 9.99991574e-01 2.01498761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604839173 meters Centerline goodness : 0.776649 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99937394e-01 -1.06197926e-02 3.52548827e-03 -5.44640616e+00] [ 1.06163215e-02 9.99943143e-01 1.00182240e-03 2.31416659e+00] [-3.53592697e-03 -9.64331967e-04 9.99993284e-01 2.01378635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634839173 meters Centerline goodness : 0.771962 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99935444e-01 -1.10475718e-02 2.65672755e-03 -5.44013114e+00] [ 1.10490211e-02 9.99938816e-01 -5.31471921e-04 2.31440343e+00] [-2.65069353e-03 5.60791850e-04 9.99996330e-01 2.00930442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664839173 meters Centerline goodness : 0.770529 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.01 [[ 9.99935562e-01 -1.10164682e-02 2.74012640e-03 -5.43939729e+00] [ 1.10176632e-02 9.99939215e-01 -4.21382349e-04 2.31516071e+00] [-2.73531770e-03 4.51544986e-04 9.99996157e-01 2.00787602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694839173 meters Centerline goodness : 0.772054 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.01 [[ 9.99953685e-01 -8.98915617e-03 3.43836592e-03 -5.44226993e+00] [ 8.98233195e-03 9.99957668e-01 1.99504648e-03 2.32111271e+00] [-3.45615415e-03 -1.96406954e-03 9.99992099e-01 2.00845934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724839173 meters Centerline goodness : 0.772804 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.01 [[ 9.99944448e-01 -9.88194061e-03 3.66724361e-03 -5.44417052e+00] [ 9.87985111e-03 9.99951021e-01 5.87454359e-04 2.32597799e+00] [-3.67286918e-03 -5.51189903e-04 9.99993103e-01 2.01051274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754839173 meters Centerline goodness : 0.772995 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.01 [[ 9.99926094e-01 -1.13798856e-02 4.27840175e-03 -5.44774442e+00] [ 1.13843199e-02 9.99934683e-01 -1.01351862e-03 2.33028455e+00] [-4.26658857e-03 1.06215041e-03 9.99990334e-01 2.01345073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784839172999998 meters Centerline goodness : 0.775472 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.01 [[ 9.99941023e-01 -9.99517279e-03 4.24813540e-03 -5.44990540e+00] [ 9.98798690e-03 9.99948658e-01 1.70940118e-03 2.32955754e+00] [-4.26500305e-03 -1.66687004e-03 9.99989516e-01 2.01451968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814839173 meters Centerline goodness : 0.777026 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.02 [[ 9.99926893e-01 -1.12165278e-02 4.51647283e-03 -5.45248465e+00] [ 1.12121124e-02 9.99936641e-01 1.00174780e-03 2.33074451e+00] [-4.52742280e-03 -9.51035367e-04 9.99989299e-01 2.01662805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844839173 meters Centerline goodness : 0.774795 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:2.02 [[ 9.99916694e-01 -1.21796655e-02 4.27337041e-03 -5.45291114e+00] [ 1.21729654e-02 9.99924642e-01 1.59038711e-03 2.32839214e+00] [-4.29241876e-03 -1.53823503e-03 9.99989604e-01 2.01630713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874839172999998 meters Centerline goodness : 0.772874 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.01 [[ 9.99925854e-01 -1.14873515e-02 4.04060371e-03 -5.45085529e+00] [ 1.14738705e-02 9.99928582e-01 3.34388688e-03 2.32376835e+00] [-4.07872754e-03 -3.29727758e-03 9.99986246e-01 2.01349917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904839173 meters Centerline goodness : 0.771149 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.01 [[ 9.99936984e-01 -1.06205429e-02 3.63746099e-03 -5.44826365e+00] [ 1.06025336e-02 9.99931613e-01 4.93505639e-03 2.31908581e+00] [-3.68962522e-03 -4.89617910e-03 9.99981207e-01 2.01085830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934839173 meters Centerline goodness : 0.773379 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.32, Z:2.01 [[ 9.99895407e-01 -1.39850903e-02 3.68689646e-03 -5.44779591e+00] [ 1.39799264e-02 9.99901264e-01 1.42265665e-03 2.31712489e+00] [-3.70642841e-03 -1.37096531e-03 9.99992191e-01 2.01074062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964839172999998 meters Centerline goodness : 0.774045 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99883295e-01 -1.47652163e-02 3.92231641e-03 -5.44943183e+00] [ 1.47589037e-02 9.99889747e-01 1.63348604e-03 2.31491629e+00] [-3.94600274e-03 -1.57540631e-03 9.99990974e-01 2.01144486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994839173 meters Centerline goodness : 0.771900 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99862051e-01 -1.61069463e-02 4.05539511e-03 -5.45117072e+00] [ 1.60982709e-02 9.99868075e-01 2.16283968e-03 2.31129134e+00] [-4.08969685e-03 -2.09725647e-03 9.99989438e-01 2.01163487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024839173 meters Centerline goodness : 0.774380 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99866708e-01 -1.58938320e-02 3.73529286e-03 -5.45000175e+00] [ 1.58847141e-02 9.99870808e-01 2.45814765e-03 2.31134204e+00] [-3.77387968e-03 -2.39848594e-03 9.99990002e-01 2.01087820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054839172999998 meters Centerline goodness : 0.768713 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99876633e-01 -1.53592830e-02 3.28801649e-03 -5.44760695e+00] [ 1.53491472e-02 9.99877433e-01 3.08599303e-03 2.31228433e+00] [-3.33501213e-03 -3.03514407e-03 9.99989833e-01 2.00867129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084839173 meters Centerline goodness : 0.768438 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.31, Z:2.01 [[ 9.99890198e-01 -1.44746744e-02 3.17415240e-03 -5.44541950e+00] [ 1.44608217e-02 9.99885998e-01 4.34458293e-03 2.30833292e+00] [-3.23667697e-03 -4.29820504e-03 9.99985525e-01 2.00601285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114839173 meters Centerline goodness : 0.765594 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99852903e-01 -1.69367429e-02 2.70543523e-03 -5.44312475e+00] [ 1.69338615e-02 9.99856024e-01 1.08444108e-03 2.30685674e+00] [-2.72341261e-03 -1.03846809e-03 9.99995752e-01 2.00559971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144839172999998 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.30, Z:2.01 [[ 9.99836124e-01 -1.77755232e-02 3.42867816e-03 -5.44597868e+00] [ 1.77715647e-02 9.99841375e-01 1.18155980e-03 2.30316772e+00] [-3.44913713e-03 -1.12043319e-03 9.99993424e-01 2.00678496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174839173 meters Centerline goodness : 0.772267 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.30, Z:2.01 [[ 9.99824245e-01 -1.83579917e-02 3.80318113e-03 -5.44793100e+00] [ 1.83546520e-02 9.99831124e-01 9.11199778e-04 2.30248044e+00] [-3.81926666e-03 -8.41233564e-04 9.99992353e-01 2.00820690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204839173 meters Centerline goodness : 0.773761 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.30, Z:2.01 [[ 9.99893593e-01 -1.41716740e-02 3.45922587e-03 -5.44664626e+00] [ 1.41535298e-02 9.99886237e-01 5.21446720e-03 2.30314397e+00] [-3.53273007e-03 -5.16495209e-03 9.99980421e-01 2.00697248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234839172999997 meters Centerline goodness : 0.769931 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99949225e-01 -9.85448486e-03 2.10641842e-03 -5.44083650e+00] [ 9.83659422e-03 9.99916828e-01 8.34140175e-03 2.30657493e+00] [-2.18844344e-03 -8.32025823e-03 9.99962991e-01 2.00390001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264839173 meters Centerline goodness : 0.765273 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99956912e-01 -9.16676983e-03 1.46473051e-03 -5.43833639e+00] [ 9.15343610e-03 9.99918815e-01 8.86438646e-03 2.30585975e+00] [-1.54586939e-03 -8.85059719e-03 9.99959638e-01 2.00258303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294839173 meters Centerline goodness : 0.769678 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.30, Z:2.00 [[ 9.99956130e-01 -9.18626310e-03 1.83049725e-03 -5.43920385e+00] [ 9.16997610e-03 9.99919971e-01 8.71573268e-03 2.30452794e+00] [-1.91041577e-03 -8.69856470e-03 9.99960342e-01 2.00295373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324839173 meters Centerline goodness : 0.773349 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99948457e-01 -9.92571448e-03 2.13635255e-03 -5.44111793e+00] [ 9.90905433e-03 9.99921468e-01 7.67261155e-03 2.30610988e+00] [-2.21234093e-03 -7.65104685e-03 9.99968283e-01 2.00488589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354839173 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99944065e-01 -1.03603593e-02 2.12832478e-03 -5.44211617e+00] [ 1.03481971e-02 9.99930505e-01 5.64808403e-03 2.31294631e+00] [-2.18669305e-03 -5.62574378e-03 9.99981785e-01 2.00757529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384839173 meters Centerline goodness : 0.773904 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99945510e-01 -1.02751564e-02 1.84331258e-03 -5.44148885e+00] [ 1.02654524e-02 9.99933794e-01 5.19885298e-03 2.31490581e+00] [-1.89660956e-03 -5.17964726e-03 9.99984787e-01 2.00790264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414839173 meters Centerline goodness : 0.772930 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99959566e-01 -8.91732033e-03 1.16070786e-03 -5.43896928e+00] [ 8.91018637e-03 9.99942226e-01 6.01274240e-03 2.31149130e+00] [-1.21425835e-03 -6.00215716e-03 9.99981250e-01 2.00742721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444839173 meters Centerline goodness : 0.774029 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.01 [[ 9.99963172e-01 -8.52517753e-03 9.87695220e-04 -5.43838736e+00] [ 8.51844858e-03 9.99941753e-01 6.62765757e-03 2.30855558e+00] [-1.04413965e-03 -6.61899986e-03 9.99977549e-01 2.00720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474839173 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99974261e-01 -7.17480509e-03 -1.40189983e-05 -5.43464920e+00] [ 7.17472526e-03 9.99949340e-01 7.05974281e-03 2.30924175e+00] [-3.66339906e-05 -7.05966168e-03 9.99975080e-01 2.00605824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504839173 meters Centerline goodness : 0.773473 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.01 [[ 9.99981260e-01 -6.08355760e-03 -6.84933305e-04 -5.43204111e+00] [ 6.08830276e-03 9.99955881e-01 7.15320262e-03 2.31046730e+00] [ 6.41386166e-04 -7.15723866e-03 9.99974181e-01 2.00539564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534839172999998 meters Centerline goodness : 0.771819 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.31, Z:2.00 [[ 9.99997212e-01 -5.87824594e-05 -2.36057362e-03 -5.42215087e+00] [ 8.24494892e-05 9.99949724e-01 1.00271202e-02 2.31002723e+00] [ 2.35986552e-03 -1.00272868e-02 9.99946941e-01 2.00108980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839173 meters Centerline goodness : 0.771703 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.31, Z:2.00 [[ 9.99993131e-01 1.89963648e-03 -3.18274775e-03 -5.41819559e+00] [-1.86795446e-03 9.99948973e-01 9.92787276e-03 2.31196577e+00] [ 3.20144469e-03 -9.92185934e-03 9.99945652e-01 2.00018253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594839173 meters Centerline goodness : 0.769444 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:2.00 [[ 9.99935588e-01 1.08641064e-02 -3.28491174e-03 -5.41619569e+00] [-1.08047563e-02 9.99787158e-01 1.75754312e-02 2.31512068e+00] [ 3.47515393e-03 -1.75388065e-02 9.99840144e-01 1.99884847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999998 meters Centerline goodness : 0.769444 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:2.00 [[ 9.99935588e-01 1.08641064e-02 -3.28491174e-03 -5.41619569e+00] [-1.08047563e-02 9.99787158e-01 1.75754312e-02 2.31512068e+00] [ 3.47515393e-03 -1.75388065e-02 9.99840144e-01 1.99884847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654839173 meters Centerline goodness : 0.773476 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:2.00 [[ 9.99925890e-01 1.16042345e-02 -3.68193812e-03 -5.41508658e+00] [-1.15433773e-02 9.99803100e-01 1.61403571e-02 2.32074943e+00] [ 3.86850964e-03 -1.60966589e-02 9.99862957e-01 2.00056203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839173 meters Centerline goodness : 0.773052 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:2.00 [[ 9.99913170e-01 1.25245697e-02 -4.09718672e-03 -5.41354312e+00] [-1.24612710e-02 9.99807938e-01 1.51262804e-02 2.32590969e+00] [ 4.28584996e-03 -1.50739109e-02 9.99877197e-01 2.00153267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714839172999998 meters Centerline goodness : 0.771634 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:2.00 [[ 9.99909739e-01 1.26912964e-02 -4.40963848e-03 -5.41292692e+00] [-1.26260210e-02 9.99814741e-01 1.45281264e-02 2.32712163e+00] [ 4.59320231e-03 -1.44711389e-02 9.99884738e-01 2.00238293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839173 meters Centerline goodness : 0.773347 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:2.00 [[ 9.99944398e-01 9.43916823e-03 -4.70135417e-03 -5.41221298e+00] [-9.39471864e-03 9.99911792e-01 9.38864535e-03 2.33034566e+00] [ 4.78956048e-03 -9.34395543e-03 9.99944874e-01 2.00426912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774839173 meters Centerline goodness : 0.774146 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:2.00 [[ 9.99934568e-01 1.00827050e-02 -5.40355904e-03 -5.40992945e+00] [-1.00309869e-02 9.99904425e-01 9.51425597e-03 2.33058213e+00] [ 5.49897203e-03 -9.45943041e-03 9.99940138e-01 2.00377517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999998 meters Centerline goodness : 0.770468 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:2.00 [[ 0.99991541 0.0113734 -0.00630994 -5.40597121] [-0.01131256 0.99988998 0.00959409 2.33318792] [ 0.00641836 -0.0095219 0.99993407 2.00210212] [ 0. 0. 0. 1. ]] SLAMing on 27.834839173 meters Centerline goodness : 0.766377 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 9.99937580e-01 8.85561501e-03 -6.81275375e-03 -5.40323695e+00] [-8.81908364e-03 9.99946672e-01 5.37368675e-03 2.33619724e+00] [ 6.85997774e-03 -5.31326908e-03 9.99962354e-01 2.00162750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839173 meters Centerline goodness : 0.763830 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 9.99955558e-01 5.93698731e-03 -7.32356747e-03 -5.40004132e+00] [-5.92260548e-03 9.99980493e-01 1.98390097e-03 2.33551798e+00] [ 7.33520301e-03 -1.94043820e-03 9.99971214e-01 1.99935097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894839172999998 meters Centerline goodness : 0.763390 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 9.99968752e-01 2.50201667e-03 -7.49898537e-03 -5.39878231e+00] [-2.51786007e-03 9.99994617e-01 -2.10404367e-03 2.33638086e+00] [ 7.49368065e-03 2.12285932e-03 9.99969669e-01 1.99890209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839173 meters Centerline goodness : 0.762769 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 9.99970206e-01 -1.06568925e-03 -7.64529353e-03 -5.39756170e+00] [ 1.01978852e-03 9.99981449e-01 -6.00517680e-03 2.33726273e+00] [ 7.65155135e-03 5.99720130e-03 9.99952743e-01 1.99819993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954839173 meters Centerline goodness : 0.761861 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 9.99969587e-01 -1.40129854e-03 -7.67208576e-03 -5.39759030e+00] [ 1.35761607e-03 9.99982856e-01 -5.69593907e-03 2.33694232e+00] [ 7.67993595e-03 5.68535009e-03 9.99954347e-01 1.99761027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters Centerline goodness : 0.758996 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.33, Z:2.00 [[ 9.99967801e-01 -3.10324502e-03 -7.40044933e-03 -5.39929813e+00] [ 3.06502628e-03 9.99981937e-01 -5.17014176e-03 2.33328570e+00] [ 7.41635988e-03 5.14729271e-03 9.99959251e-01 1.99672773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014839173 meters Centerline goodness : 0.763721 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.33, Z:2.00 [[ 9.99968108e-01 -3.87404573e-03 -6.98395659e-03 -5.40076938e+00] [ 3.83785233e-03 9.99979176e-01 -5.18833754e-03 2.33284111e+00] [ 7.00391102e-03 5.16136868e-03 9.99962152e-01 1.99676177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044839173 meters Centerline goodness : 0.766687 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.34, Z:2.00 [[ 0.99995924 -0.00670027 -0.0060523 -5.40511638] [ 0.00666084 0.99995661 -0.00651277 2.33549292] [ 0.00609567 0.00647219 0.99996048 1.99801137] [ 0. 0. 0. 1. ]] SLAMing on 28.074839173 meters Centerline goodness : 0.758144 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 0.99995807 -0.0065976 -0.0063511 -5.40379929] [ 0.0065572 0.99995826 -0.00636193 2.3358654 ] [ 0.00639281 0.00632002 0.99995959 1.99698365] [ 0. 0. 0. 1. ]] SLAMing on 28.104839173 meters Centerline goodness : 0.757659 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:2.00 [[ 0.99996058 -0.00569427 -0.00681344 -5.40091295] [ 0.00565031 0.99996321 -0.00645407 2.33818252] [ 0.00684994 0.00641532 0.99995596 1.99522022] [ 0. 0. 0. 1. ]] SLAMing on 28.134839173 meters Centerline goodness : 0.759369 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99976125e-01 -2.36724886e-03 -6.49200136e-03 -5.40166063e+00] [ 2.35433217e-03 9.99995235e-01 -1.99655199e-03 2.33682573e+00] [ 6.49669676e-03 1.98121999e-03 9.99976934e-01 1.99387165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839173 meters Centerline goodness : 0.758222 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99973084e-01 -2.47052696e-03 -6.90847934e-03 -5.40097366e+00] [ 2.45521174e-03 9.99994512e-01 -2.22447531e-03 2.33978599e+00] [ 6.91393705e-03 2.20745365e-03 9.99973662e-01 1.99410091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194839173 meters Centerline goodness : 0.755643 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99973899e-01 -2.25609295e-03 -6.86379346e-03 -5.40034538e+00] [ 2.24345870e-03 9.99995776e-01 -1.84785350e-03 2.33927876e+00] [ 6.86793340e-03 1.83240663e-03 9.99974737e-01 1.99307519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839173 meters Centerline goodness : 0.760396 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99975397e-01 -2.88234338e-03 -6.39517044e-03 -5.40176931e+00] [ 2.87372507e-03 9.99994951e-01 -1.35640716e-03 2.33695640e+00] [ 6.39904779e-03 1.33799583e-03 9.99978631e-01 1.99265122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254839173 meters Centerline goodness : 0.759860 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99973596e-01 -3.00516400e-03 -6.61637300e-03 -5.40157218e+00] [ 2.99519712e-03 9.99994366e-01 -1.51578948e-03 2.33763621e+00] [ 6.62089092e-03 1.49593211e-03 9.99976963e-01 1.99304398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999998 meters Centerline goodness : 0.759079 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99971710e-01 -2.90847577e-03 -6.93683678e-03 -5.40093689e+00] [ 2.89501300e-03 9.99993908e-01 -1.95001712e-03 2.34147183e+00] [ 6.94246610e-03 1.92987972e-03 9.99974039e-01 1.99348301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314839173 meters Centerline goodness : 0.759848 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99971030e-01 -3.11746526e-03 -6.94415028e-03 -5.40154734e+00] [ 3.10281514e-03 9.99992940e-01 -2.11948241e-03 2.34172326e+00] [ 6.95070867e-03 2.09787459e-03 9.99973643e-01 1.99430093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839173 meters Centerline goodness : 0.756950 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 0.99994837 -0.0075362 -0.00681626 -5.40251975] [ 0.00749764 0.99995585 -0.00566486 2.33902703] [ 0.00685866 0.00561346 0.99996072 1.99474703] [ 0. 0. 0. 1. ]] SLAMing on 28.374839172999998 meters Centerline goodness : 0.758326 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.33, Z:1.99 [[ 9.99946176e-01 -7.92740412e-03 -6.69342216e-03 -5.40297230e+00] [ 7.89841303e-03 9.99959360e-01 -4.34666248e-03 2.33362220e+00] [ 6.72760789e-03 4.29356112e-03 9.99968152e-01 1.99345937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404839173 meters Centerline goodness : 0.754891 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.33, Z:1.99 [[ 0.99991944 -0.0100711 -0.00772529 -5.39801308] [ 0.01002864 0.9999345 -0.00551524 2.32631014] [ 0.00778032 0.00543732 0.99995495 1.98947861] [ 0. 0. 0. 1. ]] SLAMing on 28.434839173 meters Centerline goodness : 0.753807 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.32, Z:1.99 [[ 9.99928415e-01 -8.43194007e-03 -8.48924078e-03 -5.39376608e+00] [ 8.40400644e-03 9.99959172e-01 -3.32078789e-03 2.32184942e+00] [ 8.51689486e-03 3.24920654e-03 9.99958452e-01 1.98577638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999998 meters Centerline goodness : 0.748823 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.32, Z:1.98 [[ 9.99941279e-01 -4.61246377e-03 -9.80634295e-03 -5.38571809e+00] [ 4.60541275e-03 9.99989120e-01 -7.41486312e-04 2.31988222e+00] [ 9.80965633e-03 6.96280514e-04 9.99951642e-01 1.98055689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494839173 meters Centerline goodness : 0.744940 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.32, Z:1.98 [[ 9.99938094e-01 -2.29391289e-03 -1.08878495e-02 -5.38026449e+00] [ 2.29710300e-03 9.99997322e-01 2.80500143e-04 2.32157301e+00] [ 1.08871769e-02 -3.05493290e-04 9.99940686e-01 1.97782830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839173 meters Centerline goodness : 0.744796 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.33, Z:1.98 [[ 9.99927280e-01 3.64463640e-03 -1.14957047e-02 -5.37658723e+00] [-3.59726246e-03 9.99984964e-01 4.13900111e-03 2.32625781e+00] [ 1.15106170e-02 -4.09734705e-03 9.99925356e-01 1.97672368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554839172999998 meters Centerline goodness : 0.745182 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.33, Z:1.98 [[ 9.99920435e-01 3.99280100e-03 -1.19658033e-02 -5.37536329e+00] [-3.95634112e-03 9.99987464e-01 3.06912991e-03 2.33029802e+00] [ 1.19779078e-02 -3.02154492e-03 9.99923697e-01 1.97771760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839173 meters Centerline goodness : 0.743575 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.33, Z:1.98 [[ 9.99915265e-01 4.25395119e-03 -1.23030843e-02 -5.37415744e+00] [-4.22789182e-03 9.99988765e-01 2.14335134e-03 2.33426962e+00] [ 1.23120637e-02 -2.09115361e-03 9.99922017e-01 1.97809659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614839173 meters Centerline goodness : 0.741283 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.33, Z:1.98 [[ 9.99917027e-01 5.24279984e-04 -1.28710579e-02 -5.37259549e+00] [-5.46493200e-04 9.99998367e-01 -1.72237028e-03 2.33469773e+00] [ 1.28701339e-02 1.72926132e-03 9.99915681e-01 1.97791129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999998 meters Centerline goodness : 0.739803 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.33, Z:1.97 [[ 9.99900734e-01 -1.07036264e-03 -1.40491052e-02 -5.36654761e+00] [ 1.01678804e-03 9.99992187e-01 -3.81997047e-03 2.33262220e+00] [ 1.40530842e-02 3.80530632e-03 9.99894010e-01 1.97430065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674839173 meters Centerline goodness : 0.737336 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.33, Z:1.97 [[ 9.99891263e-01 7.88672685e-05 -1.47463946e-02 -5.36311402e+00] [-1.29047843e-04 9.99994205e-01 -3.40198407e-03 2.33292121e+00] [ 1.47460409e-02 3.40351714e-03 9.99885479e-01 1.97256926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704839173 meters Centerline goodness : 0.738181 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.33, Z:1.97 [[ 9.99879705e-01 1.47370106e-03 -1.54403413e-02 -5.35940827e+00] [-1.51523757e-03 9.99995264e-01 -2.67877548e-03 2.33298736e+00] [ 1.54363205e-02 2.70184902e-03 9.99877202e-01 1.97044503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734839172999997 meters Centerline goodness : 0.735241 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.33, Z:1.97 [[ 9.99866943e-01 2.57978260e-03 -1.61071930e-02 -5.35593699e+00] [-2.60681349e-03 9.99995229e-01 -1.65741728e-03 2.33173656e+00] [ 1.61028404e-02 1.69918519e-03 9.99868897e-01 1.96800808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764839173 meters Centerline goodness : 0.735849 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.97 [[ 9.99857632e-01 3.15523110e-03 -1.65758893e-02 -5.35368459e+00] [-3.17065547e-03 9.99994565e-01 -9.04332785e-04 2.33057268e+00] [ 1.65729459e-02 9.56760472e-04 9.99862202e-01 1.96624264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794839173 meters Centerline goodness : 0.733817 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.97 [[ 9.99849361e-01 3.48765685e-03 -1.70026917e-02 -5.35201244e+00] [-3.50540933e-03 9.99993342e-01 -1.01440687e-03 2.33220167e+00] [ 1.69990406e-02 1.07385545e-03 9.99854929e-01 1.96570091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824839172999997 meters Centerline goodness : 0.735299 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99841038e-01 3.69883730e-03 -1.74418354e-02 -5.35155054e+00] [-3.74567577e-03 9.99989464e-01 -2.65350646e-03 2.33798051e+00] [ 1.74318367e-02 2.71841611e-03 9.99844359e-01 1.96824502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854839173 meters Centerline goodness : 0.735700 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99841838e-01 3.61564159e-03 -1.74133907e-02 -5.35192410e+00] [-3.67082290e-03 9.99988339e-01 -3.13798089e-03 2.33894609e+00] [ 1.74018418e-02 3.20140605e-03 9.99843451e-01 1.96904454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839173 meters Centerline goodness : 0.736140 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99832362e-01 4.33754172e-03 -1.77885725e-02 -5.35051228e+00] [-4.38901884e-03 9.99986290e-01 -2.85581220e-03 2.33722091e+00] [ 1.77759414e-02 2.93340784e-03 9.99837692e-01 1.96887372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914839173 meters Centerline goodness : 0.733975 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99822936e-01 4.80899702e-03 -1.81925880e-02 -5.34894626e+00] [-4.85767030e-03 9.99984737e-01 -2.63220145e-03 2.33672548e+00] [ 1.81796521e-02 2.72010898e-03 9.99831036e-01 1.96829286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839173 meters Centerline goodness : 0.734654 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99806291e-01 5.63288314e-03 -1.88586983e-02 -5.34624309e+00] [-5.66948406e-03 9.99982146e-01 -1.88789619e-03 2.33557146e+00] [ 1.88477273e-02 1.99444958e-03 9.99820377e-01 1.96687896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974839173 meters Centerline goodness : 0.733447 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99795958e-01 5.67757295e-03 -1.93857640e-02 -5.34602470e+00] [-5.72930984e-03 9.99980170e-01 -2.61431314e-03 2.33723979e+00] [ 1.93705367e-02 2.72484676e-03 9.99808660e-01 1.96904610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839173 meters Centerline goodness : 0.736422 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99787572e-01 5.92976898e-03 -1.97395078e-02 -5.34615182e+00] [-5.98160370e-03 9.99978813e-01 -2.56793103e-03 2.33558056e+00] [ 1.97238624e-02 2.68545944e-03 9.99801859e-01 1.97080969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034839172999998 meters Centerline goodness : 0.733761 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.97 [[ 9.99790009e-01 5.57124950e-03 -1.97205170e-02 -5.34737267e+00] [-5.63467032e-03 9.99979126e-01 -3.16187849e-03 2.33585199e+00] [ 1.97024897e-02 3.27233313e-03 9.99800532e-01 1.97263845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839173 meters Centerline goodness : 0.735953 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.97 [[ 9.99789122e-01 5.57554310e-03 -1.97642407e-02 -5.34751006e+00] [-5.63303955e-03 9.99980060e-01 -2.85463741e-03 2.33434498e+00] [ 1.97479304e-02 2.96536818e-03 9.99800593e-01 1.97278051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094839173 meters Centerline goodness : 0.729356 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.33, Z:1.97 [[ 9.99781198e-01 -1.41414422e-03 -2.08700068e-02 -5.34364319e+00] [ 1.22009922e-03 9.99955939e-01 -9.30759913e-03 2.32961048e+00] [ 2.08822495e-02 9.28009913e-03 9.99738872e-01 1.97097912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999998 meters Centerline goodness : 0.725279 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.32, Z:1.97 [[ 0.9997631 -0.00581071 -0.02097565 -5.34267046] [ 0.00557223 0.99991938 -0.01140986 2.32240325] [ 0.02104026 0.01129028 0.99971488 1.96786833] [ 0. 0. 0. 1. ]] SLAMing on 29.154839173 meters Centerline goodness : 0.726532 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.32, Z:1.97 [[ 0.99976284 -0.006117 -0.02090102 -5.34286958] [ 0.00588693 0.9999216 -0.0110514 2.3206688 ] [ 0.02096698 0.01092574 0.99972047 1.96724722] [ 0. 0. 0. 1. ]] SLAMing on 29.184839173 meters Centerline goodness : 0.729741 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.96 [[ 9.99969416e-01 -4.82706536e-03 -6.15362460e-03 -5.34556114e+00] [ 4.78457938e-03 9.99964746e-01 -6.90034631e-03 2.31984469e+00] [ 6.18671608e-03 6.87069277e-03 9.99957258e-01 1.96217520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214839172999998 meters Centerline goodness : 0.732296 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.96 [[ 9.99967334e-01 -5.35597881e-03 -6.05344250e-03 -5.34718670e+00] [ 5.31048818e-03 9.99957728e-01 -7.50609059e-03 2.32079264e+00] [ 6.09338907e-03 7.47369866e-03 9.99953506e-01 1.96419570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839173 meters Centerline goodness : 0.738131 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.97 [[ 0.99996109 -0.00666774 -0.005775 -5.35097398] [ 0.00661874 0.99994228 -0.00846384 2.32007457] [ 0.0058311 0.00842529 0.99994751 1.96839061] [ 0. 0. 0. 1. ]] SLAMing on 29.274839173 meters Centerline goodness : 0.738042 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.97 [[ 9.99975383e-01 -4.20319280e-03 -5.61841255e-03 -5.35352512e+00] [ 4.17870093e-03 9.99981747e-01 -4.36386973e-03 2.31691295e+00] [ 5.63665219e-03 4.34028464e-03 9.99974695e-01 1.96953625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304839172999998 meters Centerline goodness : 0.740615 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.97 [[ 9.99973090e-01 -4.02931503e-03 -6.13063449e-03 -5.35381128e+00] [ 4.00021568e-03 9.99980711e-01 -4.75142921e-03 2.31815626e+00] [ 6.14966124e-03 4.72677749e-03 9.99969919e-01 1.97218452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334839173 meters Centerline goodness : 0.740324 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.97 [[ 9.99972782e-01 -3.50882239e-03 -6.49026245e-03 -5.35331680e+00] [ 3.48004482e-03 9.99984088e-01 -4.43995141e-03 2.31718994e+00] [ 6.50573818e-03 4.41724416e-03 9.99969081e-01 1.97297377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364839173 meters Centerline goodness : 0.743216 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.31, Z:1.98 [[ 9.99972006e-01 -2.64539987e-03 -6.99927325e-03 -5.35314781e+00] [ 2.61775743e-03 9.99988750e-01 -3.95554892e-03 2.31277200e+00] [ 7.00965851e-03 3.93711578e-03 9.99967681e-01 1.97519762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394839172999998 meters Centerline goodness : 0.742865 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.31, Z:1.98 [[ 9.99970581e-01 -1.69146474e-03 -7.48169191e-03 -5.35160458e+00] [ 1.66549063e-03 9.99992570e-01 -3.47655806e-03 2.31193457e+00] [ 7.48751679e-03 3.46399510e-03 9.99965968e-01 1.97519962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424839173 meters Centerline goodness : 0.741335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.31, Z:1.97 [[ 9.99956461e-01 3.32647158e-03 -8.71840321e-03 -5.34435541e+00] [-3.33812744e-03 9.99993554e-01 -1.32271531e-03 2.31083283e+00] [ 8.71394704e-03 1.35176086e-03 9.99961119e-01 1.97313424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454839173 meters Centerline goodness : 0.741209 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.31, Z:1.97 [[ 9.99950847e-01 4.05449639e-03 -9.04794151e-03 -5.34332176e+00] [-4.06682075e-03 9.99990827e-01 -1.34413429e-03 2.31042767e+00] [ 9.04240873e-03 1.38086458e-03 9.99958163e-01 1.97355397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484839172999997 meters Centerline goodness : 0.745335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.98 [[ 9.99948481e-01 4.41651648e-03 -9.13945717e-03 -5.34406476e+00] [-4.42506765e-03 9.99989790e-01 -9.15621224e-04 2.30454761e+00] [ 9.13532000e-03 9.56016768e-04 9.99957815e-01 1.97525617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514839173 meters Centerline goodness : 0.745335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.98 [[ 9.99948481e-01 4.41651648e-03 -9.13945717e-03 -5.34406476e+00] [-4.42506765e-03 9.99989790e-01 -9.15621224e-04 2.30454761e+00] [ 9.13532000e-03 9.56016768e-04 9.99957815e-01 1.97525617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839173 meters Centerline goodness : 0.745867 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.98 [[ 9.99945873e-01 4.46659508e-03 -9.39679107e-03 -5.34441343e+00] [-4.47430208e-03 9.99989671e-01 -7.99310837e-04 2.30175511e+00] [ 9.39312381e-03 8.41311655e-04 9.99955530e-01 1.97670639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574839172999997 meters Centerline goodness : 0.744896 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.97 [[ 9.99928270e-01 5.91930202e-03 -1.04123384e-02 -5.34067863e+00] [-5.90695284e-03 9.99981814e-01 1.21636805e-03 2.29653206e+00] [ 1.04193491e-02 -1.15477561e-03 9.99945050e-01 1.97454331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839173 meters Centerline goodness : 0.743579 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.97 [[ 9.99924799e-01 4.34221155e-03 -1.14691686e-02 -5.33601146e+00] [-4.36020607e-03 9.99989302e-01 -1.54440860e-03 2.29610165e+00] [ 1.14623398e-02 1.59430040e-03 9.99933034e-01 1.97289280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634839173 meters Centerline goodness : 0.741220 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99913381e-01 3.82883185e-03 -1.25924885e-02 -5.32982381e+00] [-3.87153452e-03 9.99986832e-01 -3.36849502e-03 2.29233698e+00] [ 1.25794253e-02 3.41695550e-03 9.99915038e-01 1.96991772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839173 meters Centerline goodness : 0.737977 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99900548e-01 4.96908551e-03 -1.31985964e-02 -5.32704240e+00] [-5.00204333e-03 9.99984451e-01 -2.46523368e-03 2.28958934e+00] [ 1.31861412e-02 2.53100846e-03 9.99909856e-01 1.96830074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694839173 meters Centerline goodness : 0.739389 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.29, Z:1.97 [[ 9.99882104e-01 7.13074397e-03 -1.35988903e-02 -5.32439038e+00] [-7.16353036e-03 9.99971548e-01 -2.36377571e-03 2.29143566e+00] [ 1.35816479e-02 2.46091310e-03 9.99904737e-01 1.96830478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839173 meters Centerline goodness : 0.741380 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.97 [[ 9.99882081e-01 7.27590235e-03 -1.35235317e-02 -5.32547212e+00] [-7.32995726e-03 9.99965327e-01 -3.95184062e-03 2.29653126e+00] [ 1.34943096e-02 4.05050153e-03 9.99900744e-01 1.97144002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754839173 meters Centerline goodness : 0.741674 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.97 [[ 9.99869630e-01 7.83401548e-03 -1.41191747e-02 -5.32488803e+00] [-7.90048026e-03 9.99957943e-01 -4.65779787e-03 2.29861609e+00] [ 1.40820917e-02 4.76873889e-03 9.99889471e-01 1.97377240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999998 meters Centerline goodness : 0.742576 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.97 [[ 9.99868359e-01 7.77857525e-03 -1.42393314e-02 -5.32445240e+00] [-7.83816821e-03 9.99960735e-01 -4.13408218e-03 2.29549616e+00] [ 1.42066151e-02 4.24514824e-03 9.99890069e-01 1.97312232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814839173 meters Centerline goodness : 0.746077 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99894821e-01 5.02034648e-03 -1.36067190e-02 -5.32799719e+00] [-5.09128006e-03 9.99973605e-01 -5.18351284e-03 2.29401394e+00] [ 1.35803368e-02 5.25224326e-03 9.99893989e-01 1.97421630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844839173 meters Centerline goodness : 0.747773 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99899447e-01 4.39498608e-03 -1.34826069e-02 -5.32906996e+00] [-4.46442156e-03 9.99976905e-01 -5.12423606e-03 2.29350287e+00] [ 1.34597745e-02 5.18391284e-03 9.99895975e-01 1.97472774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874839172999998 meters Centerline goodness : 0.745515 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99906188e-01 3.48489157e-03 -1.32465102e-02 -5.33003360e+00] [-3.55543774e-03 9.99979603e-01 -5.30582823e-03 2.29191934e+00] [ 1.32277498e-02 5.35242762e-03 9.99898184e-01 1.97468866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839173 meters Centerline goodness : 0.743756 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99908896e-01 3.07061446e-03 -1.31442019e-02 -5.33030585e+00] [-3.13890330e-03 9.99981668e-01 -5.17788470e-03 2.29205845e+00] [ 1.31280616e-02 5.21867135e-03 9.99900205e-01 1.97407972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934839173 meters Centerline goodness : 0.743869 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99917554e-01 -1.49463996e-03 -1.27534603e-02 -5.33159309e+00] [ 1.37712357e-03 9.99956562e-01 -9.21828291e-03 2.29030363e+00] [ 1.27666843e-02 9.19995981e-03 9.99876179e-01 1.97476376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999998 meters Centerline goodness : 0.745635 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99918925e-01 -2.13329610e-03 -1.25535490e-02 -5.33245559e+00] [ 2.01813333e-03 9.99955833e-01 -9.17925056e-03 2.28955244e+00] [ 1.25725766e-02 9.15317162e-03 9.99879068e-01 1.97466891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994839173 meters Centerline goodness : 0.744471 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99914935e-01 -3.95407441e-03 -1.24292900e-02 -5.33381592e+00] [ 3.83939546e-03 9.99949968e-01 -9.23686859e-03 2.28691859e+00] [ 1.24651915e-02 9.18836190e-03 9.99880089e-01 1.97429214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839173 meters Centerline goodness : 0.745890 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.29, Z:1.97 [[ 9.99915390e-01 -4.03076562e-03 -1.23679565e-02 -5.33401981e+00] [ 3.91608185e-03 9.99949245e-01 -9.28290136e-03 2.28710939e+00] [ 1.24047460e-02 9.23368200e-03 9.99880424e-01 1.97438050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054839172999998 meters Centerline goodness : 0.747271 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.29, Z:1.97 [[ 9.99997167e-01 -1.49048110e-03 1.85565588e-03 -5.33539404e+00] [ 1.49723578e-03 9.99992240e-01 -3.64400117e-03 2.28962833e+00] [-1.85021016e-03 3.64676921e-03 9.99991639e-01 1.96779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839173 meters Centerline goodness : 0.749220 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.29, Z:1.97 [[ 9.99995774e-01 1.74400912e-03 2.32588365e-03 -5.33704656e+00] [-1.74379683e-03 9.99998475e-01 -9.32976668e-05 2.29109316e+00] [-2.32604282e-03 8.92414040e-05 9.99997291e-01 1.96824164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114839173 meters Centerline goodness : 0.749209 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.30, Z:1.97 [[ 9.99994660e-01 2.65779759e-03 1.90153508e-03 -5.33537495e+00] [-2.65624146e-03 9.99996136e-01 -8.20412854e-04 2.29564862e+00] [-1.90370822e-03 8.15357537e-04 9.99997856e-01 1.96863153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144839172999998 meters Centerline goodness : 0.751547 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.97 [[ 9.99992164e-01 3.73702505e-03 1.30609154e-03 -5.33276284e+00] [-3.73508918e-03 9.99991927e-01 -1.48149591e-03 2.29953687e+00] [-1.31161738e-03 1.47660593e-03 9.99998050e-01 1.96830412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174839173 meters Centerline goodness : 0.748684 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.97 [[ 9.99961596e-01 8.74525058e-03 5.71603986e-04 -5.32941868e+00] [-8.74618764e-03 9.99960377e-01 1.65794169e-03 2.30578962e+00] [-5.57082222e-04 -1.66287737e-03 9.99998462e-01 1.96733570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839173 meters Centerline goodness : 0.749203 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.97 [[ 9.99963142e-01 8.55469887e-03 7.29749298e-04 -5.33009463e+00] [-8.55480524e-03 9.99963397e-01 1.42761867e-04 2.30897397e+00] [-7.28501302e-04 -1.48999468e-04 9.99999724e-01 1.96895763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234839172999997 meters Centerline goodness : 0.750536 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.32, Z:1.97 [[ 9.99967313e-01 8.03296994e-03 9.19198823e-04 -5.33114154e+00] [-8.03005769e-03 9.99962862e-01 -3.12924408e-03 2.31805888e+00] [-9.44301810e-04 3.12176057e-03 9.99994681e-01 1.97236225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839173 meters Centerline goodness : 0.748595 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.32, Z:1.97 [[ 9.99964922e-01 8.36878524e-03 3.45157925e-04 -5.32856838e+00] [-8.36747666e-03 9.99958393e-01 -3.63282192e-03 2.32172885e+00] [-3.75545871e-04 3.62980638e-03 9.99993342e-01 1.97105267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294839173 meters Centerline goodness : 0.745807 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.33, Z:1.97 [[ 9.99963465e-01 8.54798017e-03 -3.54054069e-05 -5.32413193e+00] [-8.54805330e-03 9.99953988e-01 -4.35335190e-03 2.32864924e+00] [-1.80858787e-06 4.35349549e-03 9.99990523e-01 1.96642019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999997 meters Centerline goodness : 0.747856 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.33, Z:1.97 [[ 9.99974094e-01 7.18756815e-03 3.88071363e-04 -5.32629602e+00] [-7.18508358e-03 9.99955804e-01 -6.06343346e-03 2.33346436e+00] [-4.31635552e-04 6.06048806e-03 9.99981542e-01 1.96813578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354839173 meters Centerline goodness : 0.748371 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.34, Z:1.97 [[ 9.99959474e-01 -1.29884091e-03 8.90865734e-03 -5.32926790e+00] [ 1.28974091e-03 9.99998641e-01 1.02714730e-03 2.33619717e+00] [-8.90997933e-03 -1.01561581e-03 9.99959790e-01 1.96759617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839173 meters Centerline goodness : 0.748835 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.34, Z:1.97 [[ 9.99952860e-01 -3.50672674e-03 9.05436022e-03 -5.33208952e+00] [ 3.50376586e-03 9.99993803e-01 3.42854036e-04 2.33506013e+00] [-9.05550641e-03 -3.11113515e-04 9.99958950e-01 1.96919651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414839173 meters Centerline goodness : 0.750722 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.34, Z:1.97 [[ 9.99950085e-01 -4.23180351e-03 9.05094086e-03 -5.33347746e+00] [ 4.23319665e-03 9.99991031e-01 -1.34769883e-04 2.33608282e+00] [-9.05028936e-03 1.73077568e-04 9.99959030e-01 1.97085755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444839173 meters Centerline goodness : 0.748934 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.33, Z:1.97 [[ 9.99959918e-01 -3.21417286e-03 8.35656815e-03 -5.33079414e+00] [ 3.20807981e-03 9.99994578e-01 7.42435755e-04 2.33401077e+00] [-8.35890916e-03 -7.15597459e-04 9.99964808e-01 1.96952772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474839173 meters Centerline goodness : 0.747597 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.33, Z:1.97 [[ 9.99977733e-01 4.76758373e-04 6.65626353e-03 -5.32210802e+00] [-4.93164236e-04 9.99996844e-01 2.46330173e-03 2.33069442e+00] [-6.65506813e-03 -2.46652951e-03 9.99974813e-01 1.96537583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504839173 meters Centerline goodness : 0.746096 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.33, Z:1.96 [[ 9.99982140e-01 2.28018774e-03 5.52444862e-03 -5.31697242e+00] [-2.29933092e-03 9.99991366e-01 3.46130399e-03 2.32972948e+00] [-5.51650850e-03 -3.47394471e-03 9.99978750e-01 1.96253290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534839172999998 meters Centerline goodness : 0.743557 Centerline is valid? [False, False] Translation: X:-5.31, Y:2.33, Z:1.96 [[ 9.99985957e-01 3.83366469e-03 3.65904610e-03 -5.30577923e+00] [-3.84480084e-03 9.99987984e-01 3.04129137e-03 2.32594416e+00] [-3.64734284e-03 -3.05531697e-03 9.99988681e-01 1.95553046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564839173 meters Centerline goodness : 0.742694 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.95 [[ 9.99993844e-01 1.85958779e-03 2.97542774e-03 -5.30243622e+00] [-1.85869440e-03 9.99998227e-01 -3.02992370e-04 2.32620540e+00] [-2.97598591e-03 2.97460094e-04 9.99995528e-01 1.95462178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594839173 meters Centerline goodness : 0.742906 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.96 [[ 9.99994034e-01 1.71012119e-03 3.00113864e-03 -5.30293873e+00] [-1.70880357e-03 9.99998443e-01 -4.41548071e-04 2.32519220e+00] [-3.00188906e-03 4.36417081e-04 9.99995399e-01 1.95538808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624839172999998 meters Centerline goodness : 0.746095 Centerline is valid? [False, False] Translation: X:-5.31, Y:2.33, Z:1.96 [[ 9.99994276e-01 1.16549867e-03 3.17631126e-03 -5.30526204e+00] [-1.15896259e-03 9.99997209e-01 -2.05882172e-03 2.32693854e+00] [-3.17870195e-03 2.05512871e-03 9.99992836e-01 1.95954936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654839173 meters Centerline goodness : 0.744338 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.96 [[ 9.99995439e-01 1.18922579e-03 2.77616314e-03 -5.30400348e+00] [-1.18389693e-03 9.99997455e-01 -1.92036193e-03 2.32749887e+00] [-2.77843982e-03 1.91706648e-03 9.99994303e-01 1.95883828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684839173 meters Centerline goodness : 0.741849 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.96 [[ 9.99995855e-01 1.38291906e-03 2.52520383e-03 -5.30282071e+00] [-1.38018619e-03 9.99998460e-01 -1.08365949e-03 2.32527854e+00] [-2.52669855e-03 1.08016974e-03 9.99996225e-01 1.95734399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714839172999998 meters Centerline goodness : 0.742049 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.32, Z:1.96 [[ 9.99996023e-01 1.67941491e-03 2.26563517e-03 -5.30238454e+00] [-1.67697598e-03 9.99998013e-01 -1.07795805e-03 2.32358671e+00] [-2.26744101e-03 1.07415434e-03 9.99996852e-01 1.95805595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744839173 meters Centerline goodness : 0.745569 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.96 [[ 9.99996493e-01 1.26735142e-03 2.32527343e-03 -5.30381045e+00] [-1.26322875e-03 9.99997629e-01 -1.77359618e-03 2.32512806e+00] [-2.32751569e-03 1.77065261e-03 9.99995724e-01 1.96025260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774839173 meters Centerline goodness : 0.750663 Centerline is valid? [False, False] Translation: X:-5.31, Y:2.33, Z:1.97 [[ 9.99997060e-01 1.12562569e-03 2.14791392e-03 -5.30588896e+00] [-1.11867094e-03 9.99994137e-01 -3.23636763e-03 2.32679349e+00] [-2.15154427e-03 3.23395531e-03 9.99992456e-01 1.96559998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804839172999998 meters Centerline goodness : 0.750188 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.32, Z:1.97 [[ 9.99997190e-01 1.71336455e-03 1.63825469e-03 -5.30490882e+00] [-1.70879898e-03 9.99994664e-01 -2.78419499e-03 2.32413907e+00] [-1.64301629e-03 2.78138772e-03 9.99994782e-01 1.96610830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834839173 meters Centerline goodness : 0.747341 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.32, Z:1.96 [[ 9.99993422e-01 3.62283242e-03 -1.77787388e-04 -5.29571356e+00] [-3.62330902e-03 9.99989633e-01 -2.75792236e-03 2.32153715e+00] [ 1.67794054e-04 2.75854840e-03 9.99996181e-01 1.96175204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864839173 meters Centerline goodness : 0.747118 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.32, Z:1.96 [[ 9.99988227e-01 4.73792632e-03 -1.04802605e-03 -5.29272944e+00] [-4.74017588e-03 9.99986444e-01 -2.15450025e-03 2.32049082e+00] [ 1.03780398e-03 2.15944272e-03 9.99997130e-01 1.96075448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894839172999998 meters Centerline goodness : 0.746730 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.32, Z:1.96 [[ 9.99992364e-01 3.16515474e-03 -2.29226842e-03 -5.28812705e+00] [-3.17602725e-03 9.99983651e-01 -4.75511606e-03 2.31789590e+00] [ 2.27718027e-03 4.76236006e-03 9.99986067e-01 1.95960892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839173 meters Centerline goodness : 0.746612 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.32, Z:1.96 [[ 9.99990038e-01 3.61176742e-03 -2.62284543e-03 -5.28709252e+00] [-3.62187568e-03 9.99985993e-01 -3.85946095e-03 2.31536804e+00] [ 2.60886921e-03 3.86892212e-03 9.99989113e-01 1.95896427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954839173 meters Centerline goodness : 0.749559 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.31, Z:1.96 [[ 9.99987819e-01 3.92405114e-03 -2.99399378e-03 -5.28717367e+00] [-3.93335001e-03 9.99987440e-01 -3.10630322e-03 2.31175181e+00] [ 2.98176688e-03 3.11804180e-03 9.99990693e-01 1.96040176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999997 meters Centerline goodness : 0.749111 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.31, Z:1.96 [[ 9.99992579e-01 8.50182539e-04 -3.75765100e-03 -5.28554204e+00] [-8.75444880e-04 9.99976994e-01 -6.72638382e-03 2.31090528e+00] [ 3.75184590e-03 6.72962352e-03 9.99970317e-01 1.96129016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014839173 meters Centerline goodness : 0.749500 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.30, Z:1.96 [[ 9.99986541e-01 -3.09123011e-03 -4.16670377e-03 -5.28555135e+00] [ 3.05632584e-03 9.99960405e-01 -8.35744771e-03 2.30140964e+00] [ 4.19237358e-03 8.34460043e-03 9.99956395e-01 1.96092460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839173 meters Centerline goodness : 0.747749 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.30, Z:1.96 [[ 9.99966883e-01 -6.67894541e-03 -4.65022261e-03 -5.28388291e+00] [ 6.62977509e-03 9.99922789e-01 -1.05100750e-02 2.29630045e+00] [ 4.72005978e-03 1.04788970e-02 9.99933955e-01 1.95906030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074839172999997 meters Centerline goodness : 0.746159 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.28, Z:1.95 [[ 0.99990038 -0.01298962 -0.00552221 -5.28008216] [ 0.01290878 0.99981254 -0.01443055 2.28333646] [ 0.00570863 0.01435783 0.99988062 1.95499094] [ 0. 0. 0. 1. ]] SLAMing on 31.104839173 meters Centerline goodness : 0.748691 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.28, Z:1.95 [[ 0.9998588 -0.0155613 -0.00634303 -5.27677702] [ 0.01545306 0.99973994 -0.01677039 2.27933877] [ 0.00660235 0.01667 0.99983925 1.9531725 ] [ 0. 0. 0. 1. ]] SLAMing on 31.134839173 meters Centerline goodness : 0.749147 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.27, Z:1.95 [[ 0.99991902 -0.0109345 -0.00651107 -5.27514787] [ 0.01086718 0.99988803 -0.01028776 2.27235124] [ 0.00662283 0.01021617 0.99992588 1.94965686] [ 0. 0. 0. 1. ]] SLAMing on 31.164839173 meters Centerline goodness : 0.750177 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.27, Z:1.95 [[ 9.99956387e-01 -6.24302193e-03 -6.94611367e-03 -5.27293055e+00] [ 6.20785999e-03 9.99967867e-01 -5.07219904e-03 2.27129692e+00] [ 6.97755632e-03 5.02885732e-03 9.99963011e-01 1.94717099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194839173 meters Centerline goodness : 0.747907 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.27, Z:1.94 [[ 9.99954679e-01 -4.39165010e-03 -8.44704571e-03 -5.26499697e+00] [ 4.35400018e-03 9.99980529e-01 -4.47040695e-03 2.27012496e+00] [ 8.46651370e-03 4.43342591e-03 9.99954330e-01 1.94269207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224839173 meters Centerline goodness : 0.747305 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.27, Z:1.94 [[ 0.99993373 -0.00735999 -0.00885266 -5.26286192] [ 0.00728993 0.99994206 -0.00792 2.26932154] [ 0.00891044 0.00785494 0.99992945 1.94187123] [ 0. 0. 0. 1. ]] SLAMing on 31.254839173 meters Centerline goodness : 0.751002 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.27, Z:1.94 [[ 0.99992407 -0.00958444 -0.00774492 -5.26789444] [ 0.00951691 0.99991678 -0.00870986 2.2686685 ] [ 0.00782776 0.00863549 0.99993207 1.94465276] [ 0. 0. 0. 1. ]] SLAMing on 31.284839172999998 meters Centerline goodness : 0.754029 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.27, Z:1.94 [[ 9.99910652e-01 -1.32784060e-02 1.53996013e-03 -5.26502531e+00] [ 1.32811825e-02 9.99910168e-01 -1.80700074e-03 2.26880398e+00] [-1.51582771e-03 1.82729178e-03 9.99997182e-01 1.94416956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314839173 meters Centerline goodness : 0.751928 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.27, Z:1.95 [[ 9.99768021e-01 -1.86697837e-02 1.07397749e-02 -5.26672373e+00] [ 1.86187050e-02 9.99814959e-01 4.83652757e-03 2.26906332e+00] [-1.08280845e-02 -4.63544490e-03 9.99930630e-01 1.94878568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839173 meters Centerline goodness : 0.743592 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.26, Z:1.95 [[ 0.99980432 -0.01742332 0.00936761 -5.26385862] [ 0.01736324 0.99982839 0.00645759 2.26410786] [-0.00947852 -0.00629367 0.99993527 1.94911208] [ 0. 0. 0. 1. ]] SLAMing on 31.374839172999998 meters Centerline goodness : 0.742989 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.26, Z:1.95 [[ 0.99984682 -0.01554613 0.00804032 -5.25923839] [ 0.01548078 0.99984714 0.00812714 2.26061796] [-0.00816543 -0.00800142 0.99993465 1.94703414] [ 0. 0. 0. 1. ]] SLAMing on 31.404839173 meters Centerline goodness : 0.740783 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.26, Z:1.95 [[ 0.99987957 -0.01384438 0.00701294 -5.25557678] [ 0.01377494 0.99985655 0.00985525 2.25638071] [-0.00714838 -0.00975746 0.99992684 1.94526128] [ 0. 0. 0. 1. ]] SLAMing on 31.434839173 meters Centerline goodness : 0.740783 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.26, Z:1.95 [[ 0.99987957 -0.01384438 0.00701294 -5.25557678] [ 0.01377494 0.99985655 0.00985525 2.25638071] [-0.00714838 -0.00975746 0.99992684 1.94526128] [ 0. 0. 0. 1. ]] SLAMing on 31.464839172999998 meters Centerline goodness : 0.739743 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.25, Z:1.94 [[ 0.99988019 -0.01446798 0.00550353 -5.25024428] [ 0.01441983 0.99985825 0.00869138 2.25112855] [-0.0056285 -0.00861098 0.99994708 1.94381323] [ 0. 0. 0. 1. ]] SLAMing on 31.494839173 meters Centerline goodness : 0.740047 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.25, Z:1.95 [[ 9.99839236e-01 -1.72327174e-02 4.95324580e-03 -5.24897049e+00] [ 1.72080250e-02 9.99839503e-01 4.98521955e-03 2.25169782e+00] [-5.03835969e-03 -4.89918253e-03 9.99975306e-01 1.94515483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839173 meters Centerline goodness : 0.739500 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.24, Z:1.95 [[ 9.99800264e-01 -1.95909794e-02 3.95289796e-03 -5.24722048e+00] [ 1.95795390e-02 9.99804060e-01 2.91243990e-03 2.24485839e+00] [-4.00918098e-03 -2.83446226e-03 9.99987946e-01 1.94649228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554839172999998 meters Centerline goodness : 0.739437 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.24, Z:1.95 [[ 9.99745947e-01 -2.23061383e-02 3.23688648e-03 -5.24533941e+00] [ 2.23055831e-02 9.99751178e-01 2.07528383e-04 2.23967854e+00] [-3.24071023e-03 -1.35275019e-04 9.99994740e-01 1.94684035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839173 meters Centerline goodness : 0.739030 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.23, Z:1.95 [[ 9.99699581e-01 -2.43714863e-02 2.60367932e-03 -5.24292548e+00] [ 2.43745757e-02 9.99702221e-01 -1.16148388e-03 2.22782333e+00] [-2.57459692e-03 1.22459853e-03 9.99995936e-01 1.94634863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614839173 meters Centerline goodness : 0.736364 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.22, Z:1.95 [[ 9.99635690e-01 -2.69259433e-02 1.86576737e-03 -5.24013641e+00] [ 2.69323643e-02 9.99631109e-01 -3.50635727e-03 2.22403433e+00] [-1.77066713e-03 3.55532939e-03 9.99992112e-01 1.94517811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999998 meters Centerline goodness : 0.732087 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.22, Z:1.95 [[ 0.99960864 -0.02659841 -0.0086654 -5.24257426] [ 0.02651717 0.99960454 -0.0093598 2.21688094] [ 0.00891093 0.00912635 0.99991865 1.94603262] [ 0. 0. 0. 1. ]] SLAMing on 31.674839173 meters Centerline goodness : 0.729147 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.21, Z:1.95 [[ 0.99951174 -0.02449034 -0.01940363 -5.24602593] [ 0.02419677 0.99959131 -0.01522283 2.21129747] [ 0.01976851 0.01474589 0.99969584 1.95415349] [ 0. 0. 0. 1. ]] SLAMing on 31.704839173 meters Centerline goodness : 0.723929 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.21, Z:1.95 [[ 0.99943832 -0.027425 -0.01925931 -5.24543584] [ 0.02708466 0.99947615 -0.01771552 2.2074277 ] [ 0.01973507 0.01718394 0.99965756 1.95356694] [ 0. 0. 0. 1. ]] SLAMing on 31.734839172999997 meters Centerline goodness : 0.727224 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.20, Z:1.96 [[ 0.99951322 -0.02465782 -0.01911304 -5.24783405] [ 0.02439733 0.99960786 -0.01374414 2.20422122] [ 0.01944445 0.01327115 0.99972286 1.95528635] [ 0. 0. 0. 1. ]] SLAMing on 31.764839173 meters Centerline goodness : 0.727713 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.20, Z:1.96 [[ 0.99944498 -0.0275469 -0.01873219 -5.25158628] [ 0.02725233 0.99950367 -0.01580276 2.19956816] [ 0.01915821 0.0152835 0.99969964 1.95935664] [ 0. 0. 0. 1. ]] SLAMing on 31.794839173 meters Centerline goodness : 0.727001 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.19, Z:1.96 [[ 0.99931956 -0.03178545 -0.01871109 -5.25153 ] [ 0.03144271 0.99933737 -0.01833517 2.19244247] [ 0.01928148 0.01773437 0.9996568 1.95879331] [ 0. 0. 0. 1. ]] SLAMing on 31.824839172999997 meters Centerline goodness : 0.728763 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.95 [[ 0.99938118 -0.03252518 -0.01339312 -5.24275444] [ 0.03243732 0.99945114 -0.00672607 2.19028228] [ 0.01360454 0.00628747 0.99988769 1.9542357 ] [ 0. 0. 0. 1. ]] SLAMing on 31.854839173 meters Centerline goodness : 0.729656 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.95 [[ 0.99959326 -0.02789926 -0.00591147 -5.23518651] [ 0.02794791 0.99957482 0.00831277 2.19184544] [ 0.00567704 -0.0084746 0.99994797 1.95006499] [ 0. 0. 0. 1. ]] SLAMing on 31.884839173 meters Centerline goodness : 0.731964 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.95 [[ 0.99969194 -0.02409036 -0.00597343 -5.23645535] [ 0.02415933 0.999639 0.0117555 2.19202607] [ 0.00568808 -0.01189619 0.99991306 1.95194814] [ 0. 0. 0. 1. ]] SLAMing on 31.914839173 meters Centerline goodness : 0.733153 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.95 [[ 0.99971934 -0.02291725 -0.00600425 -5.23596645] [ 0.02298746 0.99966495 0.01189817 2.19179445] [ 0.00572956 -0.01203286 0.99991119 1.95236996] [ 0. 0. 0. 1. ]] SLAMing on 31.944839173 meters Centerline goodness : 0.733798 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.95 [[ 0.9997562 -0.02106784 -0.00661011 -5.23241052] [ 0.02115629 0.99968356 0.01360846 2.18652904] [ 0.00632132 -0.01374499 0.99988555 1.94963507] [ 0. 0. 0. 1. ]] SLAMing on 31.974839173 meters Centerline goodness : 0.731494 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.95 [[ 0.99975623 -0.0210456 -0.00667552 -5.23223281] [ 0.02113843 0.99967635 0.01415502 2.18353935] [ 0.00637546 -0.01429268 0.99987753 1.94943202] [ 0. 0. 0. 1. ]] SLAMing on 32.004839173 meters Centerline goodness : 0.737244 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.18, Z:1.95 [[ 0.99980046 -0.01908956 -0.00588406 -5.23737294] [ 0.0191876 0.99966998 0.01708122 2.18321152] [ 0.00555604 -0.01719071 0.99983679 1.95379339] [ 0. 0. 0. 1. ]] SLAMing on 32.034839172999995 meters Centerline goodness : 0.740688 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.18, Z:1.96 [[ 9.99792432e-01 -1.96084605e-02 -5.53176022e-03 -5.24072073e+00] [ 1.96960095e-02 9.99674065e-01 1.62428940e-02 2.18440640e+00] [ 5.21145908e-03 -1.63484761e-02 9.99852773e-01 1.95784437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064839172999996 meters Centerline goodness : 0.739401 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.18, Z:1.96 [[ 9.99814360e-01 -1.86405506e-02 -4.87606994e-03 -5.24622628e+00] [ 1.87239637e-02 9.99668710e-01 1.76602424e-02 2.17960293e+00] [ 4.54525790e-03 -1.77482633e-02 9.99832156e-01 1.96416907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094839173 meters Centerline goodness : 0.737536 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.18, Z:1.96 [[ 9.99760674e-01 -2.12087193e-02 -5.36509026e-03 -5.24457920e+00] [ 2.12869833e-02 9.99661215e-01 1.49773193e-02 2.17631154e+00] [ 5.04562288e-03 -1.50879415e-02 9.99873440e-01 1.96413717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124839173 meters Centerline goodness : 0.739205 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.96 [[ 0.99968853 -0.02431119 -0.00563951 -5.24316509] [ 0.02437824 0.99962905 0.01214308 2.17337088] [ 0.0053422 -0.01227678 0.99991037 1.96346155] [ 0. 0. 0. 1. ]] SLAMing on 32.15483917299999 meters Centerline goodness : 0.736945 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.96 [[ 0.99960774 -0.02739155 -0.00583609 -5.24184342] [ 0.02745077 0.99956988 0.01032059 2.1682583 ] [ 0.00555088 -0.01047674 0.99992971 1.96226365] [ 0. 0. 0. 1. ]] SLAMing on 32.18483917299999 meters Centerline goodness : 0.710319 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.96 [[ 0.99962059 -0.02689029 -0.005966 -5.24046381] [ 0.02695739 0.99957081 0.01146683 2.16671067] [ 0.00565509 -0.01162331 0.99991646 1.96051448] [ 0. 0. 0. 1. ]] SLAMing on 32.214839172999994 meters Centerline goodness : 0.712597 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.96 [[ 0.99961185 -0.02722011 -0.00593386 -5.24031834] [ 0.02728718 0.99956111 0.01153263 2.16538839] [ 0.00561734 -0.01169007 0.99991589 1.96004287] [ 0. 0. 0. 1. ]] SLAMing on 32.244839172999995 meters Centerline goodness : 0.703674 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.16, Z:1.96 [[ 0.99950538 -0.0309054 -0.00581813 -5.23961398] [ 0.03095203 0.99948803 0.00810267 2.16398204] [ 0.00556473 -0.00827874 0.99995025 1.95949909] [ 0. 0. 0. 1. ]] SLAMing on 32.274839173 meters Centerline goodness : 0.736641 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.16, Z:1.96 [[ 9.99132546e-01 -4.15424802e-02 2.89449894e-03 -5.23361935e+00] [ 4.15185015e-02 9.99106480e-01 7.90293600e-03 2.16092239e+00] [-3.22022021e-03 -7.77590530e-03 9.99964582e-01 1.95720521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304839173 meters Centerline goodness : 0.738168 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.16, Z:1.96 [[ 9.98960157e-01 -4.54803228e-02 3.18520886e-03 -5.23432584e+00] [ 4.54656868e-02 9.98955649e-01 4.52583143e-03 2.15853196e+00] [-3.38771866e-03 -4.37630756e-03 9.99984686e-01 1.95809565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334839173 meters Centerline goodness : 0.732276 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.16, Z:1.95 [[ 0.99834769 -0.05673055 0.00913921 -5.22183858] [ 0.05667893 0.99837554 0.00581242 2.15773066] [-0.00945411 -0.00528481 0.99994134 1.95460344] [ 0. 0. 0. 1. ]] SLAMing on 32.36483917299999 meters Centerline goodness : 0.738106 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.16, Z:1.96 [[ 9.98279144e-01 -5.78961819e-02 9.31567845e-03 -5.22340745e+00] [ 5.78465827e-02 9.98310286e-01 5.50864422e-03 2.15816338e+00] [-9.61886709e-03 -4.96028448e-03 9.99941435e-01 1.95608827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394839172999994 meters Centerline goodness : 0.731822 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.16, Z:1.96 [[ 0.99837166 -0.05633503 0.0089666 -5.22528108] [ 0.05625984 0.99838059 0.00842769 2.1585878 ] [-0.00942685 -0.0079095 0.99992428 1.9582981 ] [ 0. 0. 0. 1. ]] SLAMing on 32.424839172999995 meters Centerline goodness : 0.739700 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.16, Z:1.96 [[ 0.9985305 -0.05346639 0.008842 -5.22604848] [ 0.05336391 0.99850952 0.01144653 2.15866944] [-0.00944082 -0.01095786 0.99989539 1.95892315] [ 0. 0. 0. 1. ]] SLAMing on 32.454839172999996 meters Centerline goodness : 0.740139 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.17, Z:1.96 [[ 0.9987176 -0.04983534 0.00892146 -5.22754663] [ 0.04972757 0.99869169 0.01191969 2.16705499] [-0.00950381 -0.01146077 0.99988916 1.96245698] [ 0. 0. 0. 1. ]] SLAMing on 32.484839173 meters Centerline goodness : 0.744981 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.17, Z:1.96 [[ 0.9988776 -0.04652957 0.00886265 -5.22896277] [ 0.04640223 0.99882376 0.01406895 2.1710347 ] [-0.00950684 -0.01364191 0.99986175 1.96450916] [ 0. 0. 0. 1. ]] SLAMing on 32.514839173 meters Centerline goodness : 0.744706 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.97 [[ 0.99888183 -0.04646291 0.00873381 -5.22891432] [ 0.0463594 0.99885628 0.0117019 2.17814062] [-0.00926752 -0.01128392 0.99989339 1.96616172] [ 0. 0. 0. 1. ]] SLAMing on 32.54483917299999 meters Centerline goodness : 0.745562 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.97 [[ 0.99886424 -0.04682022 0.00883735 -5.22959877] [ 0.04672382 0.99884928 0.01081667 2.18055598] [-0.00933362 -0.01039147 0.99990245 1.96702818] [ 0. 0. 0. 1. ]] SLAMing on 32.574839172999994 meters Centerline goodness : 0.751592 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.97 [[ 0.99879782 -0.04816294 0.00912379 -5.23186218] [ 0.04807651 0.9987988 0.00946626 2.182233 ] [-0.00956875 -0.00901624 0.99991357 1.96940529] [ 0. 0. 0. 1. ]] SLAMing on 32.604839172999995 meters Centerline goodness : 0.748878 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.97 [[ 0.9987883 -0.04840201 0.00889763 -5.23136116] [ 0.04831969 0.99878913 0.00924532 2.18336983] [-0.00933435 -0.00880419 0.99991767 1.96919001] [ 0. 0. 0. 1. ]] SLAMing on 32.634839172999996 meters Centerline goodness : 0.749465 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.97 [[ 0.99880998 -0.04805168 0.00834591 -5.22919798] [ 0.0479742 0.99880575 0.00924892 2.18659146] [-0.00878037 -0.00883752 0.9999224 1.96753416] [ 0. 0. 0. 1. ]] SLAMing on 32.664839173 meters Centerline goodness : 0.749379 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.20, Z:1.96 [[ 0.99874359 -0.04956183 0.00740659 -5.21060247] [ 0.04945338 0.99867591 0.01417022 2.1975069 ] [-0.00809909 -0.01378614 0.99987217 1.96321106] [ 0. 0. 0. 1. ]] SLAMing on 32.694839173 meters Centerline goodness : 0.752458 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.20, Z:1.96 [[ 0.9987332 -0.04977614 0.00737137 -5.21042512] [ 0.04968626 0.99869383 0.0119129 2.20457376] [-0.00795472 -0.01153155 0.99990187 1.96366378] [ 0. 0. 0. 1. ]] SLAMing on 32.72483917299999 meters Centerline goodness : 0.754660 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.21, Z:1.96 [[ 0.99859659 -0.05251593 0.00685021 -5.2073727 ] [ 0.05246022 0.99859037 0.00807435 2.20701853] [-0.00726459 -0.00770365 0.99994394 1.9616473 ] [ 0. 0. 0. 1. ]] SLAMing on 32.75483917299999 meters Centerline goodness : 0.754004 Centerline is valid? [False, False] Translation: X:-5.20, Y:2.21, Z:1.96 [[ 0.99860371 -0.0525266 0.00562106 -5.20240041] [ 0.05248887 0.99859928 0.00666261 2.21491335] [-0.00596315 -0.00635826 0.99996201 1.95780829] [ 0. 0. 0. 1. ]] SLAMing on 32.784839172999995 meters Centerline goodness : 0.755253 Centerline is valid? [False, False] Translation: X:-5.20, Y:2.21, Z:1.96 [[ 0.99889477 -0.04574672 -0.01079245 -5.195969 ] [ 0.04589773 0.99884541 0.0141859 2.21453177] [ 0.01013103 -0.01466557 0.99984113 1.96196446] [ 0. 0. 0. 1. ]] SLAMing on 32.814839172999996 meters Centerline goodness : 0.754461 Centerline is valid? [False, False] Translation: X:-5.19, Y:2.22, Z:1.96 [[ 0.9988288 -0.04682773 -0.01217348 -5.19274659] [ 0.04700435 0.99878722 0.0146519 2.21789078] [ 0.0114726 -0.01520694 0.99981855 1.96136564] [ 0. 0. 0. 1. ]] SLAMing on 32.844839173 meters Centerline goodness : 0.753823 Centerline is valid? [False, False] Translation: X:-5.19, Y:2.22, Z:1.96 [[ 0.99868074 -0.04951442 -0.01360499 -5.18646567] [ 0.04967132 0.99870002 0.01144674 2.22206439] [ 0.01302052 -0.01210742 0.99984193 1.95605098] [ 0. 0. 0. 1. ]] SLAMing on 32.874839173 meters Centerline goodness : 0.753040 Centerline is valid? [False, False] Translation: X:-5.18, Y:2.23, Z:1.95 [[ 0.99851787 -0.05170543 -0.01698881 -5.17796806] [ 0.05192239 0.99857179 0.01258786 2.22896704] [ 0.01631368 -0.0134513 0.99977644 1.95332596] [ 0. 0. 0. 1. ]] SLAMing on 32.90483917299999 meters Centerline goodness : 0.752338 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.23, Z:1.95 [[ 0.99862719 -0.04920343 -0.01796571 -5.17462059] [ 0.04947746 0.99866046 0.01514133 2.23120837] [ 0.01719664 -0.01600944 0.99972395 1.95059177] [ 0. 0. 0. 1. ]] SLAMing on 32.93483917299999 meters Centerline goodness : 0.755065 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.23, Z:1.95 [[ 0.99900675 -0.04097132 -0.01751741 -5.17495739] [ 0.04130312 0.99896564 0.01901857 2.23299962] [ 0.01672007 -0.0197232 0.99966566 1.94795215] [ 0. 0. 0. 1. ]] SLAMing on 32.964839172999994 meters Centerline goodness : 0.759342 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.23, Z:1.95 [[ 0.99916501 -0.03670238 -0.01795041 -5.1745883 ] [ 0.03710381 0.99905658 0.02256655 2.23371429] [ 0.01710523 -0.02321373 0.99958418 1.94811456] [ 0. 0. 0. 1. ]] SLAMing on 32.994839172999995 meters Centerline goodness : 0.754797 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.24, Z:1.95 [[ 0.99914429 -0.03698747 -0.01851012 -5.17264406] [ 0.03738466 0.99906764 0.02159258 2.23830813] [ 0.0176942 -0.02226609 0.99959549 1.94710063] [ 0. 0. 0. 1. ]] SLAMing on 33.024839173 meters Centerline goodness : 0.752033 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.24, Z:1.94 [[ 0.99907778 -0.03838644 -0.01923724 -5.16835523] [ 0.0387691 0.99904943 0.01992959 2.24040981] [ 0.01845393 -0.02065702 0.9996163 1.94381503] [ 0. 0. 0. 1. ]] SLAMing on 33.054839173 meters Centerline goodness : 0.748494 Centerline is valid? [False, False] Translation: X:-5.16, Y:2.24, Z:1.94 [[ 0.99889009 -0.04255084 -0.02019927 -5.16092997] [ 0.04286862 0.9989594 0.01556905 2.24024028] [ 0.01951578 -0.01641769 0.99967474 1.93773227] [ 0. 0. 0. 1. ]] SLAMing on 33.084839173 meters Centerline goodness : 0.750090 Centerline is valid? [False, False] Translation: X:-5.16, Y:2.24, Z:1.94 [[ 0.9987422 -0.04585413 -0.02028361 -5.15934591] [ 0.04609782 0.99886824 0.01171421 2.24018946] [ 0.01972351 -0.01263451 0.99972564 1.93698875] [ 0. 0. 0. 1. ]] SLAMing on 33.11483917299999 meters Centerline goodness : 0.750293 Centerline is valid? [False, False] Translation: X:-5.16, Y:2.24, Z:1.94 [[ 0.99875097 -0.04551475 -0.02061346 -5.15778415] [ 0.04575545 0.99888808 0.01135926 2.24427093] [ 0.02007352 -0.01228825 0.99972299 1.93615813] [ 0. 0. 0. 1. ]] SLAMing on 33.144839172999994 meters Centerline goodness : 0.746185 Centerline is valid? [False, False] Translation: X:-5.16, Y:2.25, Z:1.94 [[ 0.99890168 -0.04190462 -0.02096262 -5.15712556] [ 0.04222534 0.99899402 0.01509838 2.24628267] [ 0.02030884 -0.01596695 0.99966625 1.93525957] [ 0. 0. 0. 1. ]] SLAMing on 33.174839172999995 meters Centerline goodness : 0.739437 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.25, Z:1.93 [[ 0.99903803 -0.03737128 -0.02294349 -5.14789461] [ 0.03780476 0.99910905 0.01875921 2.24762125] [ 0.022222 -0.01960854 0.99956075 1.92876777] [ 0. 0. 0. 1. ]] SLAMing on 33.204839172999996 meters Centerline goodness : 0.736858 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.25, Z:1.93 [[ 0.99902991 -0.03734587 -0.02333515 -5.14302384] [ 0.03776702 0.99912668 0.01787519 2.24722281] [ 0.02264721 -0.01873915 0.99956788 1.92501245] [ 0. 0. 0. 1. ]] SLAMing on 33.234839173 meters Centerline goodness : 0.737147 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.25, Z:1.92 [[ 0.99904188 -0.03690458 -0.0235241 -5.14124943] [ 0.03733688 0.9991368 0.01821015 2.24703577] [ 0.02283175 -0.01907102 0.99955741 1.92316297] [ 0. 0. 0. 1. ]] SLAMing on 33.264839173 meters Centerline goodness : 0.737629 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.25, Z:1.92 [[ 0.99901384 -0.03756269 -0.02367243 -5.14167232] [ 0.03797107 0.99913347 0.01704417 2.25065564] [ 0.02301169 -0.01792623 0.99957447 1.92426296] [ 0. 0. 0. 1. ]] SLAMing on 33.29483917299999 meters Centerline goodness : 0.738962 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.26, Z:1.93 [[ 0.99899082 -0.03781113 -0.02424164 -5.14107598] [ 0.03817027 0.99916564 0.01452767 2.25895656] [ 0.02367211 -0.01543832 0.99960057 1.92650324] [ 0. 0. 0. 1. ]] SLAMing on 33.324839172999994 meters Centerline goodness : 0.738962 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.26, Z:1.93 [[ 0.99899082 -0.03781113 -0.02424164 -5.14107598] [ 0.03817027 0.99916564 0.01452767 2.25895656] [ 0.02367211 -0.01543832 0.99960057 1.92650324] [ 0. 0. 0. 1. ]] SLAMing on 33.354839172999995 meters Centerline goodness : 0.736427 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.26, Z:1.93 [[ 0.99900795 -0.03694869 -0.02485773 -5.13863748] [ 0.03731028 0.99920222 0.01424299 2.26081967] [ 0.02431164 -0.01515631 0.99958953 1.92577562] [ 0. 0. 0. 1. ]] SLAMing on 33.384839172999996 meters Centerline goodness : 0.735881 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.27, Z:1.93 [[ 0.9990599 -0.03538286 -0.02504716 -5.13625355] [ 0.03572432 0.99927293 0.01331893 2.26560852] [ 0.02455769 -0.0142012 0.99959754 1.92518024] [ 0. 0. 0. 1. ]] SLAMing on 33.414839173 meters Centerline goodness : 0.736039 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.27, Z:1.93 [[ 0.99905995 -0.03523704 -0.02525027 -5.1354099 ] [ 0.0355656 0.99928686 0.01268342 2.26812806] [ 0.02478534 -0.01356954 0.9996007 1.92506737] [ 0. 0. 0. 1. ]] SLAMing on 33.444839173 meters Centerline goodness : 0.735169 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.92 [[ 0.99917053 -0.03155034 -0.02574551 -5.134062 ] [ 0.03194944 0.99937328 0.01524043 2.27439139] [ 0.02524853 -0.01605034 0.99955235 1.92456371] [ 0. 0. 0. 1. ]] SLAMing on 33.47483917299999 meters Centerline goodness : 0.732074 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.28, Z:1.92 [[ 0.99915978 -0.0314738 -0.02625143 -5.13285546] [ 0.03186164 0.99938727 0.01448875 2.27749538] [ 0.02577933 -0.01531299 0.99955037 1.92491472] [ 0. 0. 0. 1. ]] SLAMing on 33.50483917299999 meters Centerline goodness : 0.733968 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.28, Z:1.93 [[ 0.9991559 -0.03117131 -0.026755 -5.13289507] [ 0.03148956 0.99943726 0.011557 2.28361479] [ 0.0263797 -0.01238975 0.99957521 1.92997108] [ 0. 0. 0. 1. ]] SLAMing on 33.534839172999995 meters Centerline goodness : 0.732843 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.29, Z:1.93 [[ 0.99916852 -0.03037109 -0.02720065 -5.13155943] [ 0.03068109 0.99946811 0.01105293 2.28509585] [ 0.02685049 -0.01187829 0.99956889 1.93070885] [ 0. 0. 0. 1. ]] SLAMing on 33.564839172999996 meters Centerline goodness : 0.732649 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.28, Z:1.93 [[ 0.99931399 -0.02394111 -0.02825554 -5.12627227] [ 0.02440581 0.99957058 0.01621776 2.28408569] [ 0.02785513 -0.01689624 0.99946916 1.92761478] [ 0. 0. 0. 1. ]] SLAMing on 33.594839173 meters Centerline goodness : 0.734002 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.93 [[ 0.999412 -0.01834643 -0.0289666 -5.12317768] [ 0.01893243 0.99961896 0.02008735 2.28873931] [ 0.02858703 -0.02062394 0.99937852 1.9265632 ] [ 0. 0. 0. 1. ]] SLAMing on 33.624839173 meters Centerline goodness : 0.733276 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.93 [[ 0.99940448 -0.01769182 -0.0296257 -5.12097991] [ 0.01829464 0.99962852 0.02020224 2.28924856] [ 0.02925728 -0.0207322 0.99935689 1.92601861] [ 0. 0. 0. 1. ]] SLAMing on 33.65483917299999 meters Centerline goodness : 0.737220 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.93 [[ 0.99932714 -0.02068256 -0.03029032 -5.11865409] [ 0.02120046 0.99963278 0.01687738 2.28640046] [ 0.02993013 -0.0175082 0.99939864 1.92602422] [ 0. 0. 0. 1. ]] SLAMing on 33.68483917299999 meters Centerline goodness : 0.744322 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.93 [[ 0.99923272 -0.02478665 -0.03032477 -5.11990175] [ 0.02515056 0.99961546 0.01167835 2.28727595] [ 0.03002365 -0.01243207 0.99947187 1.92957644] [ 0. 0. 0. 1. ]] SLAMing on 33.714839172999994 meters Centerline goodness : 0.746776 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.28, Z:1.93 [[ 0.99960163 -0.02366306 -0.015383 -5.12314287] [ 0.02389728 0.99959848 0.01522491 2.28493235] [ 0.01501656 -0.01558646 0.99976576 1.9258233 ] [ 0. 0. 0. 1. ]] SLAMing on 33.744839172999995 meters Centerline goodness : 0.748370 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.29, Z:1.93 [[ 0.99958153 -0.02427995 -0.01572442 -5.12505355] [ 0.02449996 0.99960245 0.01395348 2.28652914] [ 0.01537937 -0.01433289 0.999779 1.93037274] [ 0. 0. 0. 1. ]] SLAMing on 33.774839173 meters Centerline goodness : 0.749693 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.93 [[ 0.99958236 -0.02378385 -0.0164146 -5.1230202 ] [ 0.02402141 0.99960729 0.01443045 2.28669503] [ 0.01606494 -0.01481872 0.99976113 1.92968768] [ 0. 0. 0. 1. ]] SLAMing on 33.804839173 meters Centerline goodness : 0.749735 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.28, Z:1.93 [[ 0.99950919 -0.02607844 -0.01735765 -5.12012802] [ 0.02627752 0.99959035 0.01134142 2.28352314] [ 0.01705477 -0.01179197 0.99978502 1.93042131] [ 0. 0. 0. 1. ]] SLAMing on 33.834839173 meters Centerline goodness : 0.751656 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.28, Z:1.93 [[ 0.99941305 -0.02937629 -0.01762331 -5.11972971] [ 0.02951735 0.99953385 0.00779824 2.27981145] [ 0.01738601 -0.00831386 0.99981429 1.93193139] [ 0. 0. 0. 1. ]] SLAMing on 33.86483917299999 meters Centerline goodness : 0.754564 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.27, Z:1.93 [[ 9.99156151e-01 -3.71218545e-02 -1.75770761e-02 -5.12107576e+00] [ 3.71493049e-02 9.99308960e-01 1.23767655e-03 2.27024437e+00] [ 1.75189848e-02 -1.88960830e-03 9.99844745e-01 1.93469454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894839172999994 meters Centerline goodness : 0.757403 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.26, Z:1.94 [[ 9.98980515e-01 -4.16045066e-02 -1.75212694e-02 -5.12244412e+00] [ 4.15878203e-02 9.99133986e-01 -1.31579144e-03 2.26440773e+00] [ 1.75608386e-02 5.85778611e-04 9.99845625e-01 1.93600412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924839172999995 meters Centerline goodness : 0.756748 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.26, Z:1.94 [[ 9.98987001e-01 -4.12430308e-02 -1.79995359e-02 -5.12160456e+00] [ 4.12462728e-02 9.99148992e-01 -1.91241763e-04 2.26156985e+00] [ 1.79921055e-02 -5.51365732e-04 9.99837977e-01 1.93589029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954839172999996 meters Centerline goodness : 0.758352 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.26, Z:1.93 [[ 9.99020298e-01 -4.00557783e-02 -1.88143228e-02 -5.11871827e+00] [ 4.00937073e-02 9.99194573e-01 1.64295174e-03 2.25765449e+00] [ 1.87333596e-02 -2.39567809e-03 9.99821645e-01 1.93411210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984839173 meters Centerline goodness : 0.755564 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.25, Z:1.93 [[ 9.99046506e-01 -3.92346593e-02 -1.91499418e-02 -5.11679109e+00] [ 3.93163488e-02 9.99219171e-01 3.90795362e-03 2.25166385e+00] [ 1.89816617e-02 -4.65713320e-03 9.99808986e-01 1.93163212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014839173 meters Centerline goodness : 0.761741 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.25, Z:1.93 [[ 9.99210040e-01 -3.94188006e-02 -5.04530444e-03 -5.11675799e+00] [ 3.94525900e-02 9.99198423e-01 6.78265230e-03 2.24971346e+00] [ 4.77389623e-03 -6.97634460e-03 9.99964270e-01 1.92507284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04483917299999 meters Centerline goodness : 0.760630 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.25, Z:1.93 [[ 9.99157631e-01 -4.07616305e-02 -4.74532920e-03 -5.11907727e+00] [ 4.07915984e-02 9.99147181e-01 6.39967548e-03 2.24675226e+00] [ 4.48042108e-03 -6.58785415e-03 9.99968262e-01 1.92693780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074839172999994 meters Centerline goodness : 0.758929 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.24, Z:1.92 [[ 9.98995976e-01 -4.45366717e-02 -4.85017651e-03 -5.11729990e+00] [ 4.45565185e-02 9.98998600e-01 4.06375952e-03 2.24076480e+00] [ 4.66433322e-03 -4.27578639e-03 9.99979981e-01 1.92464415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters Centerline goodness : 0.757878 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.24, Z:1.92 [[ 9.98996122e-01 -4.44873588e-02 -5.25586552e-03 -5.11570362e+00] [ 4.45142022e-02 9.98995704e-01 5.10571006e-03 2.23785499e+00] [ 5.02344752e-03 -5.33454520e-03 9.99973153e-01 1.92292496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134839172999996 meters Centerline goodness : 0.756847 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.24, Z:1.92 [[ 9.98843210e-01 -4.77379429e-02 -5.77322977e-03 -5.11204760e+00] [ 4.77537639e-02 9.98855665e-01 2.63423710e-03 2.23716244e+00] [ 5.64087020e-03 -2.90688330e-03 9.99979865e-01 1.91924621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164839173 meters Centerline goodness : 0.755575 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.24, Z:1.92 [[ 9.98835935e-01 -4.78850338e-02 -5.81359237e-03 -5.11202394e+00] [ 4.79018632e-02 9.98848148e-01 2.79086277e-03 2.23761574e+00] [ 5.67325542e-03 -3.06609593e-03 9.99979206e-01 1.91907295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194839173 meters Centerline goodness : 0.756142 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.24, Z:1.92 [[ 9.98649511e-01 -5.16162357e-02 -5.90921939e-03 -5.11127648e+00] [ 5.16121385e-02 9.98666849e-01 -8.43872751e-04 2.23662110e+00] [ 5.94489904e-03 5.37745661e-04 9.99982184e-01 1.91917652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22483917299999 meters Centerline goodness : 0.754053 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.23, Z:1.92 [[ 9.98646518e-01 -5.16803246e-02 -5.85463742e-03 -5.11116882e+00] [ 5.16826571e-02 9.98663528e-01 2.47705059e-04 2.23216804e+00] [ 5.83401138e-03 -5.49953013e-04 9.99982831e-01 1.91833383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25483917299999 meters Centerline goodness : 0.756440 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.23, Z:1.92 [[ 9.98648468e-01 -5.16567021e-02 -5.72909625e-03 -5.11103444e+00] [ 5.16631046e-02 9.98664094e-01 9.75131418e-04 2.23005662e+00] [ 5.67107064e-03 -1.26979640e-03 9.99983113e-01 1.91746353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284839172999995 meters Centerline goodness : 0.757295 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.23, Z:1.91 [[ 9.98576278e-01 -5.33279006e-02 1.24577609e-03 -5.10360872e+00] [ 5.33116179e-02 9.98520830e-01 1.06781936e-02 2.23110439e+00] [-1.81337903e-03 -1.05965765e-02 9.99942210e-01 1.91491625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314839172999996 meters Centerline goodness : 0.759281 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.23, Z:1.92 [[ 9.98536634e-01 -5.40650454e-02 1.24921658e-03 -5.10468437e+00] [ 5.40486908e-02 9.98481237e-01 1.06751316e-02 2.22931199e+00] [-1.82447079e-03 -1.05919914e-02 9.99942239e-01 1.91618420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344839173 meters Centerline goodness : 0.758056 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.23, Z:1.92 [[ 9.98536484e-01 -5.40735763e-02 9.69204233e-04 -5.10421458e+00] [ 5.40595556e-02 9.98476212e-01 1.10823717e-02 2.22615083e+00] [-1.56699084e-03 -1.10137577e-02 9.99938119e-01 1.91642862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374839173 meters Centerline goodness : 0.759103 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.22, Z:1.91 [[ 9.98389465e-01 -5.67313430e-02 1.73547065e-04 -5.10047060e+00] [ 5.67276636e-02 9.98351446e-01 8.73860811e-03 2.21964707e+00] [-6.69013937e-04 -8.71468936e-03 9.99961803e-01 1.91472961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40483917299999 meters Centerline goodness : 0.756300 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.22, Z:1.91 [[ 9.98424677e-01 -5.61070814e-02 -3.98744856e-04 -5.09857593e+00] [ 5.61083044e-02 9.98377330e-01 9.72442421e-03 2.21664833e+00] [-1.47511236e-04 -9.73147800e-03 9.99952637e-01 1.91379256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43483917299999 meters Centerline goodness : 0.755485 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.22, Z:1.91 [[ 9.98551123e-01 -5.37716171e-02 -2.06575217e-03 -5.09305163e+00] [ 5.37917905e-02 9.98486803e-01 1.14257103e-02 2.21593775e+00] [ 1.44824736e-03 -1.15202763e-02 9.99932591e-01 1.91163419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters Centerline goodness : 0.754601 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.22, Z:1.91 [[ 9.98801545e-01 -4.88328089e-02 -3.29087989e-03 -5.09005941e+00] [ 4.88800574e-02 9.98672335e-01 1.62575356e-02 2.21884907e+00] [ 2.49260957e-03 -1.63989101e-02 9.99862422e-01 1.91021694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494839172999995 meters Centerline goodness : 0.750819 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.22, Z:1.91 [[ 9.98806402e-01 -4.86931177e-02 -3.84077291e-03 -5.08890816e+00] [ 4.87491668e-02 9.98680025e-01 1.61779726e-02 2.22047387e+00] [ 3.04794726e-03 -1.63458971e-02 9.99861751e-01 1.91028770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524839173 meters Centerline goodness : 0.750896 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.22, Z:1.91 [[ 9.98680113e-01 -5.11334239e-02 -4.83783666e-03 -5.08522350e+00] [ 5.11923722e-02 9.98604631e-01 1.29665628e-02 2.21927135e+00] [ 4.16806134e-03 -1.31971087e-02 9.99904227e-01 1.90973979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554839173 meters Centerline goodness : 0.748469 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.22, Z:1.91 [[ 9.98527320e-01 -5.39825842e-02 -5.39184045e-03 -5.08224792e+00] [ 5.40336106e-02 9.98490884e-01 9.81449638e-03 2.21723727e+00] [ 4.85389165e-03 -1.00913834e-02 9.99937300e-01 1.90839719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584839173 meters Centerline goodness : 0.747237 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.22, Z:1.90 [[ 0.99841042 -0.05595623 -0.00674811 -5.07620004] [ 0.05600704 0.99840151 0.00759161 2.2165457 ] [ 0.00631252 -0.00795748 0.99994841 1.90482588] [ 0. 0. 0. 1. ]] SLAMing on 34.61483917299999 meters Centerline goodness : 0.748491 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.22, Z:1.90 [[ 0.99851148 -0.0540051 -0.00763336 -5.07356605] [ 0.05407664 0.99849161 0.00949846 2.21935697] [ 0.00710888 -0.0098971 0.99992575 1.90328833] [ 0. 0. 0. 1. ]] SLAMing on 34.644839172999994 meters Centerline goodness : 0.743111 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.22, Z:1.90 [[ 0.99874165 -0.04937722 -0.00877554 -5.07005853] [ 0.04948842 0.99869084 0.01294192 2.22419483] [ 0.00812501 -0.01335992 0.99987774 1.90147097] [ 0. 0. 0. 1. ]] SLAMing on 34.674839172999995 meters Centerline goodness : 0.742965 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 0.998787 -0.04827868 -0.00967971 -5.06702542] [ 0.04840029 0.99874664 0.01274965 2.22583725] [ 0.00905204 -0.01320269 0.99987187 1.90080923] [ 0. 0. 0. 1. ]] SLAMing on 34.704839172999996 meters Centerline goodness : 0.743949 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 0.9988195 -0.04754104 -0.00997287 -5.06573704] [ 0.04764766 0.99880646 0.01074021 2.23215834] [ 0.00945037 -0.01120272 0.99989259 1.90210388] [ 0. 0. 0. 1. ]] SLAMing on 34.734839173 meters Centerline goodness : 0.743662 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.24, Z:1.90 [[ 0.99883676 -0.04701278 -0.01071996 -5.06414795] [ 0.04712036 0.99883902 0.01001372 2.23786751] [ 0.01023674 -0.0105072 0.9998924 1.90270346] [ 0. 0. 0. 1. ]] SLAMing on 34.764839173 meters Centerline goodness : 0.741834 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.25, Z:1.90 [[ 0.99908193 -0.04118296 -0.01180098 -5.06081316] [ 0.04133172 0.99906537 0.01265208 2.24567828] [ 0.0112689 -0.01312822 0.99985032 1.9032455 ] [ 0. 0. 0. 1. ]] SLAMing on 34.79483917299999 meters Centerline goodness : 0.740060 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.25, Z:1.90 [[ 0.99923692 -0.03708948 -0.01224505 -5.05977741] [ 0.03728618 0.99917256 0.01624641 2.24825467] [ 0.01163235 -0.01669058 0.99979304 1.90270677] [ 0. 0. 0. 1. ]] SLAMing on 34.824839172999994 meters Centerline goodness : 0.738946 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.25, Z:1.90 [[ 0.99937723 -0.03273511 -0.01317465 -5.05704064] [ 0.03298572 0.99926991 0.01927654 2.25409765] [ 0.01253402 -0.01969911 0.99972738 1.90181639] [ 0. 0. 0. 1. ]] SLAMing on 34.854839172999995 meters Centerline goodness : 0.738332 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.26, Z:1.90 [[ 0.99938241 -0.03232743 -0.0137747 -5.0552364 ] [ 0.03257508 0.99930447 0.01815044 2.2589739 ] [ 0.01317836 -0.01858794 0.99974038 1.9020406 ] [ 0. 0. 0. 1. ]] SLAMing on 34.884839172999996 meters Centerline goodness : 0.733531 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.26, Z:1.90 [[ 0.99936619 -0.03244508 -0.01464703 -5.04998396] [ 0.03269191 0.99932191 0.0169396 2.26383717] [ 0.01408749 -0.0174077 0.99974923 1.89828175] [ 0. 0. 0. 1. ]] SLAMing on 34.914839173 meters Centerline goodness : 0.732261 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.27, Z:1.90 [[ 0.99927536 -0.03482367 -0.01536458 -5.04548374] [ 0.03503341 0.9992936 0.0135997 2.26688496] [ 0.01488014 -0.01412812 0.99978947 1.89545763] [ 0. 0. 0. 1. ]] SLAMing on 34.944839173 meters Centerline goodness : 0.733179 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.27, Z:1.89 [[ 0.99916941 -0.03755952 -0.01580425 -5.04072942] [ 0.03772592 0.99923436 0.0103655 2.27063372] [ 0.01540283 -0.01095312 0.99982138 1.89083704] [ 0. 0. 0. 1. ]] SLAMing on 34.97483917299999 meters Centerline goodness : 0.733960 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.27, Z:1.89 [[ 0.99918209 -0.03698747 -0.01634269 -5.03756 ] [ 0.03717189 0.99924692 0.01112857 2.26985614] [ 0.01591876 -0.01172696 0.99980452 1.8879831 ] [ 0. 0. 0. 1. ]] SLAMing on 35.00483917299999 meters Centerline goodness : 0.731808 Centerline is valid? [False, False] Translation: X:-5.03, Y:2.27, Z:1.88 [[ 0.99915512 -0.03733039 -0.0171899 -5.03251814] [ 0.03751373 0.99924127 0.01046898 2.27427014] [ 0.01678604 -0.011105 0.99979743 1.88368384] [ 0. 0. 0. 1. ]] SLAMing on 35.034839172999995 meters Centerline goodness : 0.731185 Centerline is valid? [False, False] Translation: X:-5.03, Y:2.28, Z:1.88 [[ 0.99914103 -0.03756142 -0.01750263 -5.03144234] [ 0.03773457 0.99924101 0.00966992 2.27906326] [ 0.01712613 -0.01032207 0.99980006 1.8832209 ] [ 0. 0. 0. 1. ]] SLAMing on 35.064839172999996 meters Centerline goodness : 0.729532 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.29, Z:1.88 [[ 0.99930036 -0.03612033 -0.00970097 -5.02446512] [ 0.03629862 0.99916267 0.01887787 2.2878191 ] [ 0.00901098 -0.01921679 0.99977473 1.88357717] [ 0. 0. 0. 1. ]] SLAMing on 35.094839173 meters Centerline goodness : 0.727685 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.29, Z:1.88 [[ 0.99930508 -0.0358873 -0.01007273 -5.02173351] [ 0.03606514 0.99918612 0.01806671 2.29158403] [ 0.00941617 -0.01841743 0.99978604 1.88152173] [ 0. 0. 0. 1. ]] SLAMing on 35.124839173 meters Centerline goodness : 0.725086 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.29, Z:1.88 [[ 0.99924966 -0.03737491 -0.01015992 -5.01850432] [ 0.03753213 0.99917128 0.01575102 2.29435518] [ 0.0095628 -0.01612052 0.99982433 1.87857539] [ 0. 0. 0. 1. ]] SLAMing on 35.15483917299999 meters Centerline goodness : 0.725570 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.30, Z:1.88 [[ 0.99922482 -0.03800371 -0.01027014 -5.01670945] [ 0.03814417 0.99917632 0.01384599 2.30320333] [ 0.00973548 -0.014227 0.9998514 1.87681422] [ 0. 0. 0. 1. ]] SLAMing on 35.18483917299999 meters Centerline goodness : 0.723975 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.31, Z:1.88 [[ 0.99920443 -0.03849357 -0.01042811 -5.01674034] [ 0.03861875 0.99918098 0.01208112 2.30953485] [ 0.00995452 -0.01247423 0.99987264 1.87799353] [ 0. 0. 0. 1. ]] SLAMing on 35.214839172999994 meters Centerline goodness : 0.725315 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.31, Z:1.88 [[ 9.99151804e-01 -4.10981310e-02 -2.57212189e-03 -5.01021605e+00] [ 4.11376111e-02 9.98993853e-01 1.78599957e-02 2.31444314e+00] [ 1.83552151e-03 -1.79506578e-02 9.99837189e-01 1.87887354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244839172999995 meters Centerline goodness : 0.725315 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.31, Z:1.88 [[ 9.99151804e-01 -4.10981310e-02 -2.57212189e-03 -5.01021605e+00] [ 4.11376111e-02 9.98993853e-01 1.78599957e-02 2.31444314e+00] [ 1.83552151e-03 -1.79506578e-02 9.99837189e-01 1.87887354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274839173 meters Centerline goodness : 0.724340 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.31, Z:1.88 [[ 9.99095529e-01 -4.24712989e-02 -2.07679070e-03 -5.01302153e+00] [ 4.25004423e-02 9.98952864e-01 1.69377671e-02 2.31497152e+00] [ 1.35524705e-03 -1.70107119e-02 9.99854389e-01 1.88081388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304839173 meters Centerline goodness : 0.728548 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.32, Z:1.88 [[ 9.99086533e-01 -4.26683249e-02 -2.34820687e-03 -5.01311543e+00] [ 4.27009687e-02 9.98955379e-01 1.62720118e-02 2.31604349e+00] [ 1.65145440e-03 -1.63574185e-02 9.99864845e-01 1.88220267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33483917299999 meters Centerline goodness : 0.728071 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.32, Z:1.88 [[ 9.99126108e-01 -4.16699676e-02 -3.26092702e-03 -5.00966711e+00] [ 4.17189237e-02 9.98988926e-01 1.67528432e-02 2.31616912e+00] [ 2.55953955e-03 -1.68742453e-02 9.99854344e-01 1.88066148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters Centerline goodness : 0.727456 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.88 [[ 9.99090097e-01 -4.24147822e-02 -4.46806973e-03 -5.00254587e+00] [ 4.24779358e-02 9.98982664e-01 1.51414116e-02 2.31448745e+00] [ 3.82130452e-03 -1.53174288e-02 9.99875379e-01 1.87631117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394839172999994 meters Centerline goodness : 0.729499 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.88 [[ 9.98968543e-01 -4.51259871e-02 -5.04937249e-03 -4.99921430e+00] [ 4.51825626e-02 9.98910045e-01 1.17156841e-02 2.31351855e+00] [ 4.51518710e-03 -1.19317434e-02 9.99918620e-01 1.87505202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424839172999995 meters Centerline goodness : 0.735061 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.88 [[ 9.98940667e-01 -4.57618349e-02 -4.83718631e-03 -5.00138659e+00] [ 4.58119289e-02 9.98891599e-01 1.08092384e-02 2.31189451e+00] [ 4.33717418e-03 -1.10193886e-02 9.99929879e-01 1.87831996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454839172999996 meters Centerline goodness : 0.733433 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.88 [[ 9.98934685e-01 -4.58325014e-02 -5.37365115e-03 -5.00120491e+00] [ 4.58838447e-02 9.98898159e-01 9.85600701e-03 2.31377379e+00] [ 4.91600478e-03 -1.00920710e-02 9.99936990e-01 1.88058723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484839173 meters Centerline goodness : 0.731701 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.88 [[ 0.99894527 -0.04554334 -0.00584471 -5.00033968] [ 0.04559975 0.99891064 0.00990965 2.31339476] [ 0.00538703 -0.01016572 0.99993382 1.88126973] [ 0. 0. 0. 1. ]] SLAMing on 35.514839173 meters Centerline goodness : 0.730607 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.31, Z:1.88 [[ 0.99906267 -0.04257095 -0.00784212 -4.9920014 ] [ 0.0426707 0.9990043 0.01302392 2.30848936] [ 0.00727987 -0.01334634 0.99988443 1.87592016] [ 0. 0. 0. 1. ]] SLAMing on 35.54483917299999 meters Centerline goodness : 0.727963 Centerline is valid? [False, False] Translation: X:-4.98, Y:2.31, Z:1.87 [[ 0.99923861 -0.03757244 -0.01051214 -4.97589864] [ 0.0377204 0.99918672 0.01424995 2.30836986] [ 0.00996819 -0.01463562 0.9998432 1.86791613] [ 0. 0. 0. 1. ]] SLAMing on 35.574839172999994 meters Centerline goodness : 0.726434 Centerline is valid? [False, False] Translation: X:-4.97, Y:2.31, Z:1.87 [[ 0.99925954 -0.03680509 -0.0112137 -4.97312803] [ 0.03696502 0.99921273 0.01440491 2.3102011 ] [ 0.0106747 -0.01480876 0.99983336 1.8665511 ] [ 0. 0. 0. 1. ]] SLAMing on 35.604839172999995 meters Centerline goodness : 0.726078 Centerline is valid? [False, False] Translation: X:-4.97, Y:2.31, Z:1.87 [[ 0.99913264 -0.03994528 -0.01176177 -4.97037483] [ 0.04007263 0.99913842 0.01079831 2.31062512] [ 0.01132029 -0.01126027 0.99987252 1.86544682] [ 0. 0. 0. 1. ]] SLAMing on 35.634839172999996 meters Centerline goodness : 0.726447 Centerline is valid? [False, False] Translation: X:-4.97, Y:2.31, Z:1.87 [[ 0.99911078 -0.04052689 -0.01162872 -4.97132582] [ 0.04065226 0.99911547 0.01075512 2.30858687] [ 0.01118256 -0.01121829 0.99987454 1.86607582] [ 0. 0. 0. 1. ]] SLAMing on 35.664839173 meters Centerline goodness : 0.728947 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.31, Z:1.86 [[ 9.98907084e-01 -4.64926229e-02 -4.80355607e-03 -4.96209816e+00] [ 4.65646710e-02 9.98784392e-01 1.61700309e-02 2.30661986e+00] [ 4.04592968e-03 -1.63760344e-02 9.99857718e-01 1.86269827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694839173 meters Centerline goodness : 0.728087 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.31, Z:1.86 [[ 9.98730398e-01 -5.00952454e-02 -5.29703789e-03 -4.96050731e+00] [ 5.01565428e-02 9.98667427e-01 1.21528497e-02 2.30691090e+00] [ 4.68117921e-03 -1.24031016e-02 9.99912121e-01 1.86314122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72483917299999 meters Centerline goodness : 0.731819 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.30, Z:1.86 [[ 0.99856121 -0.05332532 -0.00565062 -4.95842302] [ 0.05337459 0.99853436 0.00896072 2.3041787 ] [ 0.00516451 -0.00924943 0.99994389 1.86243507] [ 0. 0. 0. 1. ]] SLAMing on 35.75483917299999 meters Centerline goodness : 0.734311 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.30, Z:1.86 [[ 0.99860925 -0.05236613 -0.00611231 -4.95640106] [ 0.05242859 0.99856895 0.01054921 2.29939625] [ 0.00555114 -0.010855 0.99992567 1.86098157] [ 0. 0. 0. 1. ]] SLAMing on 35.784839172999995 meters Centerline goodness : 0.733623 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.30, Z:1.86 [[ 0.99885224 -0.04732278 -0.00740001 -4.95399505] [ 0.04743036 0.99876027 0.01510917 2.2999494 ] [ 0.00667583 -0.01544281 0.99985847 1.8613725 ] [ 0. 0. 0. 1. ]] SLAMing on 35.814839172999996 meters Centerline goodness : 0.730974 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.30, Z:1.86 [[ 0.99887561 -0.04666814 -0.008343 -4.95206671] [ 0.04678927 0.99879266 0.01496638 2.30096513] [ 0.00763447 -0.01533991 0.99985319 1.86238753] [ 0. 0. 0. 1. ]] SLAMing on 35.844839173 meters Centerline goodness : 0.732008 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.30, Z:1.86 [[ 0.9988198 -0.04773442 -0.00896832 -4.95174807] [ 0.04785794 0.99875457 0.01410409 2.29527527] [ 0.0082839 -0.01451665 0.99986031 1.86469048] [ 0. 0. 0. 1. ]] SLAMing on 35.874839173 meters Centerline goodness : 0.730332 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.29, Z:1.86 [[ 0.99864862 -0.05113266 -0.00929428 -4.95038832] [ 0.05123324 0.99862694 0.01092621 2.29164076] [ 0.00872283 -0.01138762 0.99989711 1.86483984] [ 0. 0. 0. 1. ]] SLAMing on 35.90483917299999 meters Centerline goodness : 0.729576 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.28, Z:1.87 [[ 9.98018716e-01 -6.20929548e-02 -1.01541817e-02 -4.94790111e+00] [ 6.21041064e-02 9.98069367e-01 7.86316482e-04 2.28305481e+00] [ 1.00857530e-02 -1.41537495e-03 9.99948136e-01 1.86655653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93483917299999 meters Centerline goodness : 0.728261 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.27, Z:1.86 [[ 9.97602664e-01 -6.83044480e-02 -1.11097739e-02 -4.94281555e+00] [ 6.82722831e-02 9.97661433e-01 -3.24956574e-03 2.26938052e+00] [ 1.13057528e-02 2.48328581e-03 9.99933004e-01 1.86324966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964839172999994 meters Centerline goodness : 0.725134 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.26, Z:1.86 [[ 9.97686026e-01 -6.68847390e-02 -1.22076212e-02 -4.93859781e+00] [ 6.68811535e-02 9.97760702e-01 -7.02180973e-04 2.26181379e+00] [ 1.22272499e-02 -1.15903642e-04 9.99925238e-01 1.86032798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994839172999995 meters Centerline goodness : 0.723976 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.25, Z:1.86 [[ 9.97807989e-01 -6.47664778e-02 -1.35838461e-02 -4.93336240e+00] [ 6.48045278e-02 9.97895140e-01 2.37944701e-03 2.25019986e+00] [ 1.34011456e-02 -3.25452597e-03 9.99904904e-01 1.85782263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024839173 meters Centerline goodness : 0.725385 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.25, Z:1.86 [[ 9.97854748e-01 -6.38996748e-02 -1.42384656e-02 -4.93242392e+00] [ 6.39557158e-02 9.97946546e-01 3.51547030e-03 2.24587325e+00] [ 1.39845902e-02 -4.41856000e-03 9.99892448e-01 1.85890028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054839173 meters Centerline goodness : 0.726865 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.24, Z:1.86 [[ 0.99796989 -0.06172795 -0.01567651 -4.93212846] [ 0.0618172 0.99807355 0.00527398 2.23860732] [ 0.01532076 -0.00623235 0.99986321 1.86443103] [ 0. 0. 0. 1. ]] SLAMing on 36.08483917299999 meters Centerline goodness : 0.723499 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.23, Z:1.87 [[ 0.9982034 -0.05707965 -0.01821778 -4.92483592] [ 0.05723167 0.99832939 0.00793492 2.22734903] [ 0.01773442 -0.0089633 0.99980256 1.86589187] [ 0. 0. 0. 1. ]] SLAMing on 36.11483917299999 meters Centerline goodness : 0.725415 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.22, Z:1.87 [[ 0.99826833 -0.05557553 -0.01927963 -4.92280961] [ 0.05575634 0.99840411 0.00897051 2.22225782] [ 0.01875032 -0.01002994 0.99977389 1.86749917] [ 0. 0. 0. 1. ]] SLAMing on 36.144839172999994 meters Centerline goodness : 0.730104 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.21, Z:1.87 [[ 0.99834951 -0.05377762 -0.02015486 -4.92334461] [ 0.05399356 0.99848788 0.01032708 2.21484423] [ 0.01956902 -0.01139827 0.99974353 1.87263107] [ 0. 0. 0. 1. ]] SLAMing on 36.174839172999995 meters Centerline goodness : 0.732434 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.21, Z:1.88 [[ 0.9982294 -0.05504193 -0.02254904 -4.92091206] [ 0.05540673 0.99833749 0.01588556 2.20506628] [ 0.02163718 -0.0171068 0.99961952 1.87868796] [ 0. 0. 0. 1. ]] SLAMing on 36.204839172999996 meters Centerline goodness : 0.730673 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.20, Z:1.88 [[ 0.99816602 -0.05583443 -0.02339042 -4.92005394] [ 0.05626693 0.99824879 0.01825868 2.19952643] [ 0.02233 -0.0195413 0.99955966 1.88141684] [ 0. 0. 0. 1. ]] SLAMing on 36.234839173 meters Centerline goodness : 0.730892 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.19, Z:1.88 [[ 0.99813959 -0.05639032 -0.02318363 -4.92038253] [ 0.05678427 0.99824679 0.01670022 2.19487454] [ 0.02220125 -0.01798562 0.99959173 1.88186493] [ 0. 0. 0. 1. ]] SLAMing on 36.264839173 meters Centerline goodness : 0.722471 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.19, Z:1.88 [[ 0.9982424 -0.05492348 -0.02226046 -4.92179568] [ 0.05525495 0.99836613 0.01455908 2.18817723] [ 0.02142446 -0.01576349 0.99964619 1.88157024] [ 0. 0. 0. 1. ]] SLAMing on 36.29483917299999 meters Centerline goodness : 0.717344 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.19, Z:1.88 [[ 0.99834769 -0.05309283 -0.02197834 -4.92206259] [ 0.05341843 0.9984669 0.01450214 2.18535661] [ 0.02117468 -0.01565223 0.99965326 1.88097057] [ 0. 0. 0. 1. ]] SLAMing on 36.324839172999994 meters Centerline goodness : 0.716540 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.18, Z:1.88 [[ 0.99850399 -0.04988926 -0.02237946 -4.92160833] [ 0.05027522 0.99859023 0.0170278 2.17660112] [ 0.0214984 -0.01812745 0.99960453 1.88332336] [ 0. 0. 0. 1. ]] SLAMing on 36.354839172999995 meters Centerline goodness : 0.705410 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.17, Z:1.89 [[ 0.99851912 -0.04940741 -0.02276989 -4.9216475 ] [ 0.04981325 0.99860321 0.01761474 2.17274022] [ 0.02186779 -0.0187229 0.99958554 1.88500095] [ 0. 0. 0. 1. ]] SLAMing on 36.384839172999996 meters Centerline goodness : 0.698886 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.17, Z:1.89 [[ 0.998545 -0.04869974 -0.0231562 -4.9218466 ] [ 0.04914246 0.99861199 0.0189501 2.16818213] [ 0.0222012 -0.02006048 0.99955224 1.8866146 ] [ 0. 0. 0. 1. ]] SLAMing on 36.414839173 meters Centerline goodness : 0.715601 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.17, Z:1.89 [[ 0.99856787 -0.04799225 -0.02364217 -4.92070493] [ 0.04845925 0.99863298 0.01959262 2.16729948] [ 0.02266955 -0.02071024 0.99952848 1.88666203] [ 0. 0. 0. 1. ]] SLAMing on 36.444839173 meters Centerline goodness : 0.705109 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.17, Z:1.89 [[ 0.99859157 -0.04703608 -0.02454563 -4.91902032] [ 0.04754788 0.99865443 0.02070102 2.1653847 ] [ 0.0235389 -0.02183896 0.99948436 1.88725518] [ 0. 0. 0. 1. ]] SLAMing on 36.47483917299999 meters Centerline goodness : 0.683580 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.17, Z:1.89 [[ 0.99857859 -0.04717089 -0.02481362 -4.91912566] [ 0.04768998 0.99864641 0.02076075 2.16518133] [ 0.02380073 -0.0219146 0.9994765 1.88814354] [ 0. 0. 0. 1. ]] SLAMing on 36.50483917299999 meters Centerline goodness : 0.704774 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.16, Z:1.89 [[ 0.99842088 -0.05001722 -0.02557377 -4.91612785] [ 0.05048422 0.99856348 0.01795311 2.16477776] [ 0.02463907 -0.01921583 0.99951171 1.88706236] [ 0. 0. 0. 1. ]] SLAMing on 36.534839172999995 meters Centerline goodness : 0.691443 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.16, Z:1.88 [[ 0.99801844 -0.05696517 -0.02672387 -4.91119246] [ 0.05731116 0.9982798 0.01236397 2.15964947] [ 0.02597359 -0.01387104 0.99956639 1.88435166] [ 0. 0. 0. 1. ]] SLAMing on 36.564839172999996 meters Centerline goodness : 0.668171 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.16, Z:1.88 [[ 0.99758379 -0.06378471 -0.02753336 -4.90660778] [ 0.06398967 0.99792856 0.00662724 2.15660167] [ 0.02705361 -0.00837307 0.99959892 1.88130382] [ 0. 0. 0. 1. ]] SLAMing on 36.594839173 meters Centerline goodness : 0.680762 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.15, Z:1.88 [[ 0.99758335 -0.06353014 -0.02813136 -4.90463969] [ 0.06377203 0.99793412 0.00778562 2.15422208] [ 0.02757862 -0.0095608 0.99957391 1.87983446] [ 0. 0. 0. 1. ]] SLAMing on 36.624839173 meters Centerline goodness : 0.680116 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.15, Z:1.88 [[ 0.9973753 -0.06629121 -0.02912008 -4.89986786] [ 0.06648223 0.99777167 0.00564014 2.15324588] [ 0.0286813 -0.00756131 0.99956001 1.87625653] [ 0. 0. 0. 1. ]] SLAMing on 36.65483917299999 meters Centerline goodness : 0.686959 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.15, Z:1.88 [[ 0.99736771 -0.06633196 -0.02928699 -4.8993987 ] [ 0.06652529 0.99776859 0.00567608 2.15273932] [ 0.02884513 -0.00760947 0.99955493 1.87619821] [ 0. 0. 0. 1. ]] SLAMing on 36.68483917299999 meters Centerline goodness : 0.700751 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.15, Z:1.88 [[ 9.97353305e-01 -6.64078316e-02 -2.96037943e-02 -4.89918536e+00] [ 6.65641842e-02 9.97772765e-01 4.32658768e-03 2.15419507e+00] [ 2.92505404e-02 -6.28568894e-03 9.99552348e-01 1.87792852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714839172999994 meters Centerline goodness : 0.708633 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.16, Z:1.88 [[ 0.99756919 -0.06289081 -0.03000747 -4.8992829 ] [ 0.06314323 0.997976 0.0075387 2.15564324] [ 0.02947262 -0.00941514 0.99952125 1.87837505] [ 0. 0. 0. 1. ]] SLAMing on 36.744839172999995 meters Centerline goodness : 0.694473 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.16, Z:1.87 [[ 0.998062 -0.05864204 -0.02081717 -4.89418502] [ 0.05882676 0.99823308 0.00837432 2.1619786 ] [ 0.0202893 -0.0095827 0.99974823 1.87232656] [ 0. 0. 0. 1. ]] SLAMing on 36.774839173 meters Centerline goodness : 0.715927 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.17, Z:1.87 [[ 0.99822989 -0.05550425 -0.02136284 -4.89456703] [ 0.05572998 0.99839459 0.01012005 2.16863195] [ 0.02076683 -0.01129269 0.99972057 1.87409684] [ 0. 0. 0. 1. ]] SLAMing on 36.804839173 meters Centerline goodness : 0.721953 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.17, Z:1.87 [[ 0.99821657 -0.05564344 -0.02162139 -4.8943385 ] [ 0.05585832 0.99839385 0.00946424 2.17085419] [ 0.02106004 -0.0106551 0.99972143 1.87476317] [ 0. 0. 0. 1. ]] SLAMing on 36.83483917299999 meters Centerline goodness : 0.728967 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.87 [[ 0.99857285 -0.05294494 -0.00700641 -4.89758199] [ 0.05302661 0.99852058 0.01203479 2.17530455] [ 0.00635887 -0.01238915 0.99990303 1.87238808] [ 0. 0. 0. 1. ]] SLAMing on 36.86483917299999 meters Centerline goodness : 0.730471 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.87 [[ 0.99872688 -0.04997314 -0.00687799 -4.89984105] [ 0.05007118 0.99863437 0.01490856 2.17636082] [ 0.00612357 -0.01523397 0.9998652 1.87465061] [ 0. 0. 0. 1. ]] SLAMing on 36.894839172999994 meters Centerline goodness : 0.733668 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.88 [[ 0.99905332 -0.0429508 -0.00690601 -4.90195555] [ 0.04308484 0.99885902 0.02059991 2.18304598] [ 0.00601335 -0.02087795 0.99976395 1.87708679] [ 0. 0. 0. 1. ]] SLAMing on 36.924839172999995 meters Centerline goodness : 0.736622 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.19, Z:1.88 [[ 0.99905237 -0.0428942 -0.00737856 -4.90169506] [ 0.04302889 0.99888967 0.01918169 2.18957206] [ 0.00654758 -0.01948101 0.99978879 1.87874072] [ 0. 0. 0. 1. ]] SLAMing on 36.954839172999996 meters Centerline goodness : 0.743996 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.20, Z:1.87 [[ 0.99901641 -0.04405098 0.00507243 -4.89931289] [ 0.04396219 0.99889768 0.01645435 2.19602619] [-0.00579166 -0.01621517 0.99985175 1.87483873] [ 0. 0. 0. 1. ]] SLAMing on 36.984839173 meters Centerline goodness : 0.722566 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.20, Z:1.87 [[ 9.98868937e-01 -4.73064675e-02 4.79008925e-03 -4.89776573e+00] [ 4.72473074e-02 9.98813635e-01 1.17904050e-02 2.19937838e+00] [-5.34216887e-03 -1.15507505e-02 9.99919017e-01 1.87489567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014839173 meters Centerline goodness : 0.754673 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.20, Z:1.88 [[ 9.98896306e-01 -4.69418865e-02 1.62152703e-03 -4.89172767e+00] [ 4.69060013e-02 9.98743030e-01 1.76688074e-02 2.20302032e+00] [-2.44889596e-03 -1.75732471e-02 9.99842580e-01 1.87560826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04483917299999 meters Centerline goodness : 0.752646 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.88 [[ 9.98885220e-01 -4.71860377e-02 1.33994798e-03 -4.89114692e+00] [ 4.71575373e-02 9.98750908e-01 1.65163500e-02 2.20691493e+00] [-2.11761538e-03 -1.64347493e-02 9.99862698e-01 1.87589158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074839172999994 meters Centerline goodness : 0.754891 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.87 [[ 9.98890097e-01 -4.70949052e-02 8.02621433e-04 -4.88795950e+00] [ 4.70767709e-02 9.98770349e-01 1.55424221e-02 2.21136511e+00] [-1.53360338e-03 -1.54873867e-02 9.99878887e-01 1.87334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104839172999995 meters Centerline goodness : 0.753444 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.87 [[ 9.98894339e-01 -4.70086123e-02 5.39245164e-04 -4.88629944e+00] [ 4.69951635e-02 9.98781434e-01 1.50699250e-02 2.21423312e+00] [-1.24700432e-03 -1.50279209e-02 9.99886297e-01 1.87185882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134839172999996 meters Centerline goodness : 0.753444 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.87 [[ 9.98894339e-01 -4.70086123e-02 5.39245164e-04 -4.88629944e+00] [ 4.69951635e-02 9.98781434e-01 1.50699250e-02 2.21423312e+00] [-1.24700432e-03 -1.50279209e-02 9.99886297e-01 1.87185882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164839173 meters Centerline goodness : 0.754320 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.23, Z:1.87 [[ 0.9988723 -0.04622804 0.01082154 -4.88391998] [ 0.04610055 0.99886772 0.01174789 2.22559629] [-0.01135237 -0.01123576 0.99987243 1.86851934] [ 0. 0. 0. 1. ]] SLAMing on 37.194839173 meters Centerline goodness : 0.755334 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.23, Z:1.87 [[ 0.99885026 -0.04673715 0.0106679 -4.88432033] [ 0.04662591 0.99885778 0.010448 2.22988574] [-0.01114402 -0.00993859 0.99988851 1.86980827] [ 0. 0. 0. 1. ]] SLAMing on 37.22483917299999 meters Centerline goodness : 0.757040 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.24, Z:1.87 [[ 0.99870852 -0.04951389 0.01138739 -4.88816879] [ 0.04943772 0.99875354 0.00687643 2.23869909] [-0.01171368 -0.00630458 0.99991152 1.87295335] [ 0. 0. 0. 1. ]] SLAMing on 37.25483917299999 meters Centerline goodness : 0.756693 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.24, Z:1.87 [[ 9.98631114e-01 -5.09864994e-02 1.16736655e-02 -4.88953613e+00] [ 5.09257882e-02 9.98687622e-01 5.44038138e-03 2.24265129e+00] [-1.19357313e-02 -4.83844350e-03 9.99917060e-01 1.87354001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284839172999995 meters Centerline goodness : 0.751008 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.25, Z:1.87 [[ 9.98489930e-01 -5.35181672e-02 1.23962234e-02 -4.89059610e+00] [ 5.34801618e-02 9.98563200e-01 3.37758456e-03 2.24905908e+00] [-1.25591747e-02 -2.70953214e-03 9.99917459e-01 1.87166463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314839172999996 meters Centerline goodness : 0.748931 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.25, Z:1.87 [[ 9.98503107e-01 -5.33756011e-02 1.19411149e-02 -4.88856666e+00] [ 5.33455317e-02 9.98572123e-01 2.82286195e-03 2.25253970e+00] [-1.20747364e-02 -2.18163130e-03 9.99924718e-01 1.87023801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344839173 meters Centerline goodness : 0.746917 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.26, Z:1.87 [[ 9.98666128e-01 -5.03098502e-02 1.16139296e-02 -4.88437336e+00] [ 5.02594034e-02 9.98725624e-01 4.59558258e-03 2.26266260e+00] [-1.18303321e-02 -4.00574349e-03 9.99921996e-01 1.86504567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374839173 meters Centerline goodness : 0.747413 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.27, Z:1.86 [[ 0.99879579 -0.04769873 0.01148011 -4.88184388] [ 0.04762214 0.9988419 0.00685539 2.26791611] [-0.0117938 -0.00630043 0.9999106 1.86142601] [ 0. 0. 0. 1. ]] SLAMing on 37.40483917299999 meters Centerline goodness : 0.746199 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.28, Z:1.86 [[ 0.99896949 -0.04399637 0.01114763 -4.87960734] [ 0.04389785 0.99899608 0.00893413 2.27844133] [-0.0115295 -0.00843557 0.99989795 1.8591549 ] [ 0. 0. 0. 1. ]] SLAMing on 37.43483917299999 meters Centerline goodness : 0.745642 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.28, Z:1.86 [[ 0.99899713 -0.04350572 0.01058226 -4.87760838] [ 0.04342073 0.99902377 0.00813332 2.28288659] [-0.01092577 -0.00766567 0.99991093 1.85875942] [ 0. 0. 0. 1. ]] SLAMing on 37.464839172999994 meters Centerline goodness : 0.749267 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.29, Z:1.86 [[ 0.99902948 -0.04246743 0.01168838 -4.88352357] [ 0.04237371 0.99906857 0.00815225 2.29378943] [-0.0120237 -0.00764906 0.99989846 1.86319755] [ 0. 0. 0. 1. ]] SLAMing on 37.494839172999995 meters Centerline goodness : 0.746702 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.30, Z:1.86 [[ 0.99894118 -0.0443709 0.01215522 -4.8860232 ] [ 0.04429386 0.99899717 0.00653539 2.2988239 ] [-0.01243301 -0.00599007 0.99990477 1.86425433] [ 0. 0. 0. 1. ]] SLAMing on 37.524839173 meters Centerline goodness : 0.742702 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.30, Z:1.86 [[ 0.99899833 -0.04327491 0.01138474 -4.88243964] [ 0.04319653 0.99904177 0.00704305 2.29910967] [-0.01167861 -0.00654421 0.99991039 1.86210683] [ 0. 0. 0. 1. ]] SLAMing on 37.554839173 meters Centerline goodness : 0.739226 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.30, Z:1.86 [[ 9.99345305e-01 -3.59611185e-02 3.96982212e-03 -4.88073561e+00] [ 3.59684636e-02 9.99351314e-01 -1.79457046e-03 2.30385750e+00] [-3.90271219e-03 1.93618396e-03 9.99990510e-01 1.86263237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58483917299999 meters Centerline goodness : 0.736119 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.31, Z:1.86 [[ 9.99388927e-01 -3.48203597e-02 3.05199151e-03 -4.87672029e+00] [ 3.48235317e-02 9.99392984e-01 -9.92382437e-04 2.30546986e+00] [-3.01558379e-03 1.09805714e-03 9.99994850e-01 1.85996244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61483917299999 meters Centerline goodness : 0.728883 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.31, Z:1.85 [[ 9.99589007e-01 -2.86268081e-02 1.52435772e-03 -4.86553342e+00] [ 2.86207634e-02 9.99582929e-01 3.84964266e-03 2.30610625e+00] [-1.63392493e-03 -3.80443220e-03 9.99991428e-01 1.85118916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters Centerline goodness : 0.723418 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.31, Z:1.85 [[ 9.99765467e-01 -2.07574870e-02 -6.17553682e-03 -4.86179715e+00] [ 2.07271105e-02 9.99772952e-01 -4.94284225e-03 2.30812014e+00] [ 6.27673566e-03 4.81368195e-03 9.99968715e-01 1.85042049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674839172999995 meters Centerline goodness : 0.723485 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.30, Z:1.85 [[ 9.99832386e-01 -1.70491703e-02 -6.67277106e-03 -4.86055552e+00] [ 1.70459393e-02 9.99854561e-01 -5.40785349e-04 2.30491440e+00] [ 6.68102052e-03 4.26951056e-04 9.99977591e-01 1.84926449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704839172999996 meters Centerline goodness : 0.725155 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.31, Z:1.85 [[ 9.99838207e-01 -1.64925762e-02 -7.18010582e-03 -4.85919903e+00] [ 1.64900610e-02 9.99863946e-01 -4.09360846e-04 2.30531165e+00] [ 7.18588035e-03 2.90894232e-04 9.99974139e-01 1.84939103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734839173 meters Centerline goodness : 0.724339 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.30, Z:1.85 [[ 9.99847330e-01 -1.56114308e-02 -7.84858012e-03 -4.85724303e+00] [ 1.56151998e-02 9.99877987e-01 4.19159879e-04 2.30376995e+00] [ 7.84107881e-03 -5.41653032e-04 9.99969112e-01 1.84900616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764839173 meters Centerline goodness : 0.725616 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.30, Z:1.85 [[ 9.99854926e-01 -1.48344623e-02 -8.37057656e-03 -4.85545542e+00] [ 1.48460890e-02 9.99888908e-01 1.32856570e-03 2.30192646e+00] [ 8.34993810e-03 -1.45264328e-03 9.99964084e-01 1.84818191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79483917299999 meters Centerline goodness : 0.729126 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.30, Z:1.85 [[ 9.99797008e-01 -1.80301629e-02 -8.99198088e-03 -4.85444006e+00] [ 1.80151938e-02 9.99836194e-01 -1.74295434e-03 2.29739113e+00] [ 9.02193369e-03 1.58060826e-03 9.99958052e-01 1.84939624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824839172999994 meters Centerline goodness : 0.731962 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.29, Z:1.85 [[ 9.99779246e-01 -1.88095787e-02 -9.36263986e-03 -4.85476542e+00] [ 1.87940973e-02 9.99821863e-01 -1.73878553e-03 2.29173910e+00] [ 9.39367785e-03 1.56243932e-03 9.99954658e-01 1.85051633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854839172999995 meters Centerline goodness : 0.728966 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.28, Z:1.85 [[ 0.99963431 -0.02513027 -0.00998616 -4.85312238] [ 0.02504792 0.9996519 -0.00828727 2.28193792] [ 0.01019095 0.00803411 0.9999158 1.852217 ] [ 0. 0. 0. 1. ]] SLAMing on 37.884839172999996 meters Centerline goodness : 0.725630 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.27, Z:1.85 [[ 0.99965061 -0.02425414 -0.01050677 -4.85075039] [ 0.02418846 0.99968736 -0.00633305 2.27492539] [ 0.01065709 0.0060767 0.99992475 1.84996798] [ 0. 0. 0. 1. ]] SLAMing on 37.914839173 meters Centerline goodness : 0.724605 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.27, Z:1.85 [[ 9.99677123e-01 -2.26007502e-02 -1.16127680e-02 -4.84673035e+00] [ 2.25480715e-02 9.99734958e-01 -4.64736491e-03 2.27226431e+00] [ 1.17147241e-02 4.38401886e-03 9.99921770e-01 1.84797346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944839173 meters Centerline goodness : 0.718822 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.27, Z:1.84 [[ 9.99767420e-01 -1.63220153e-02 -1.40960399e-02 -4.83616307e+00] [ 1.63190038e-02 9.99866782e-01 -3.28645584e-04 2.26778186e+00] [ 1.40995262e-02 9.85358196e-05 9.99900592e-01 1.84442098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97483917299999 meters Centerline goodness : 0.716625 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.26, Z:1.84 [[ 0.99983574 -0.01039467 -0.01484734 -4.83364715] [ 0.01047048 0.99993249 0.00503742 2.26066515] [ 0.01479398 -0.00519205 0.99987708 1.84446472] [ 0. 0. 0. 1. ]] SLAMing on 38.00483917299999 meters Centerline goodness : 0.718623 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.26, Z:1.85 [[ 9.99800576e-01 -1.25221499e-02 -1.55565039e-02 -4.83080501e+00] [ 1.25450379e-02 9.99920363e-01 1.37456815e-03 2.26069648e+00] [ 1.55380525e-02 -1.56945096e-03 9.99878045e-01 1.84500943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034839172999995 meters Centerline goodness : 0.719305 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.26, Z:1.85 [[ 9.99798910e-01 -1.23197240e-02 -1.58228689e-02 -4.83077371e+00] [ 1.23508648e-02 9.99921973e-01 1.87187350e-03 2.25585079e+00] [ 1.57985734e-02 -2.06692320e-03 9.99873058e-01 1.84610418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064839172999996 meters Centerline goodness : 0.718314 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.25, Z:1.85 [[ 9.99744850e-01 -1.51291675e-02 -1.67733090e-02 -4.82805827e+00] [ 1.51028672e-02 9.99884511e-01 -1.69355619e-03 2.25407115e+00] [ 1.67969940e-02 1.43979902e-03 9.99857884e-01 1.84658263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094839173 meters Centerline goodness : 0.714166 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.25, Z:1.85 [[ 9.99691050e-01 -1.76154702e-02 -1.75356471e-02 -4.82613148e+00] [ 1.75403219e-02 9.99836342e-01 -4.43008936e-03 2.24902059e+00] [ 1.76108153e-02 4.12113979e-03 9.99836424e-01 1.84755334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124839173 meters Centerline goodness : 0.712645 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.25, Z:1.85 [[ 0.9996342 -0.01956153 -0.01867678 -4.82255752] [ 0.01943268 0.99978627 -0.00705589 2.24848122] [ 0.01881081 0.00669037 0.99980068 1.84738393] [ 0. 0. 0. 1. ]] SLAMing on 38.15483917299999 meters Centerline goodness : 0.712811 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.24, Z:1.85 [[ 0.9995634 -0.02277649 -0.01882128 -4.82572101] [ 0.02261254 0.99970488 -0.00887825 2.23924194] [ 0.01901794 0.00844877 0.99978344 1.85197095] [ 0. 0. 0. 1. ]] SLAMing on 38.18483917299999 meters Centerline goodness : 0.715631 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.23, Z:1.85 [[ 0.99969231 -0.02424068 -0.00525979 -4.82489359] [ 0.02421124 0.99969123 -0.00559042 2.22842631] [ 0.00539368 0.00546135 0.99997054 1.84557725] [ 0. 0. 0. 1. ]] SLAMing on 38.214839172999994 meters Centerline goodness : 0.718337 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.22, Z:1.85 [[ 0.99964171 -0.02599766 -0.00637002 -4.82252335] [ 0.02595996 0.99964539 -0.0059316 2.21523281] [ 0.00652197 0.00576411 0.99996212 1.8457904 ] [ 0. 0. 0. 1. ]] SLAMing on 38.244839172999995 meters Centerline goodness : 0.717596 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.21, Z:1.84 [[ 9.99671227e-01 -2.45560465e-02 -7.37818505e-03 -4.81943608e+00] [ 2.45272030e-02 9.99691261e-01 -3.97468789e-03 2.21053045e+00] [ 7.47350974e-03 3.79241488e-03 9.99964882e-01 1.84451221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274839173 meters Centerline goodness : 0.709460 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.20, Z:1.84 [[ 9.99686419e-01 -2.31894378e-02 -9.45055806e-03 -4.81018980e+00] [ 2.31578249e-02 9.99725900e-01 -3.44091495e-03 2.20400110e+00] [ 9.52776055e-03 3.22098158e-03 9.99949422e-01 1.84011892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304839173 meters Centerline goodness : 0.705184 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.20, Z:1.84 [[ 0.99962574 -0.02533321 -0.01032498 -4.80624661] [ 0.02527782 0.99966555 -0.0054606 2.19850819] [ 0.01045987 0.00519756 0.99993179 1.83798138] [ 0. 0. 0. 1. ]] SLAMing on 38.33483917299999 meters Centerline goodness : 0.704157 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.19, Z:1.84 [[ 0.9995381 -0.02923544 -0.00829908 -4.80867348] [ 0.02909547 0.99944022 -0.01651343 2.18804496] [ 0.00877721 0.01626434 0.9998292 1.83564602] [ 0. 0. 0. 1. ]] SLAMing on 38.36483917299999 meters Centerline goodness : 0.704067 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.18, Z:1.84 [[ 0.99932483 -0.03491046 -0.01145144 -4.80441293] [ 0.03479668 0.99934449 -0.00998898 2.17925435] [ 0.01179265 0.00958376 0.99988454 1.84204508] [ 0. 0. 0. 1. ]] SLAMing on 38.394839172999994 meters Centerline goodness : 0.703038 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.17, Z:1.84 [[ 0.99930223 -0.03543655 -0.01180258 -4.80470725] [ 0.03533573 0.99933811 -0.00864461 2.17315401] [ 0.0121011 0.00822153 0.99989298 1.8424093 ] [ 0. 0. 0. 1. ]] SLAMing on 38.424839172999995 meters Centerline goodness : 0.702592 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.16, Z:1.84 [[ 0.99903297 -0.04217388 -0.01242973 -4.80388279] [ 0.04201102 0.99903146 -0.01308462 2.16320761] [ 0.01296952 0.01254978 0.99983713 1.84299253] [ 0. 0. 0. 1. ]] SLAMing on 38.454839172999996 meters Centerline goodness : 0.699294 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.16, Z:1.84 [[ 0.99905117 -0.04148604 -0.01325387 -4.80159675] [ 0.04134791 0.9990893 -0.01053161 2.15610123] [ 0.01367871 0.0099736 0.9998567 1.84115727] [ 0. 0. 0. 1. ]] SLAMing on 38.484839173 meters Centerline goodness : 0.698452 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.15, Z:1.84 [[ 0.99910535 -0.03987239 -0.0140959 -4.79881894] [ 0.03978829 0.99918891 -0.00619723 2.1455529 ] [ 0.01433156 0.00563083 0.99988144 1.8379704 ] [ 0. 0. 0. 1. ]] SLAMing on 38.514839173 meters Centerline goodness : 0.703242 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.14, Z:1.84 [[ 9.99144547e-01 -3.85746044e-02 -1.49055144e-02 -4.79661415e+00] [ 3.85051820e-02 9.99246304e-01 -4.91685759e-03 2.14325800e+00] [ 1.50839460e-02 4.33871190e-03 9.99876817e-01 1.83761888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters Centerline goodness : 0.711724 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.14, Z:1.84 [[ 9.99232745e-01 -3.56785849e-02 -1.61542459e-02 -4.79394442e+00] [ 3.56413796e-02 9.99361300e-01 -2.58528655e-03 2.13725733e+00] [ 1.62361676e-02 2.00754336e-03 9.99866169e-01 1.83863392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574839172999994 meters Centerline goodness : 0.714309 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.13, Z:1.84 [[ 9.99276744e-01 -3.39531885e-02 -1.71221965e-02 -4.79044228e+00] [ 3.39487757e-02 9.99423424e-01 -5.48398357e-04 2.13128073e+00] [ 1.71309441e-02 -3.32758849e-05 9.99853254e-01 1.83703427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604839172999995 meters Centerline goodness : 0.717112 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.12, Z:1.84 [[ 9.99241705e-01 -3.41875482e-02 -1.86339996e-02 -4.78342323e+00] [ 3.41550734e-02 9.99414426e-01 -2.05833818e-03 2.12057087e+00] [ 1.86934576e-02 1.42033173e-03 9.99824253e-01 1.83508505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634839172999996 meters Centerline goodness : 0.718449 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.11, Z:1.83 [[ 9.99269323e-01 -3.29856402e-02 -1.93071943e-02 -4.78027450e+00] [ 3.29939512e-02 9.99455545e-01 1.11992542e-04 2.11463477e+00] [ 1.92929882e-02 -7.48931336e-04 9.99813592e-01 1.83246234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664839173 meters Centerline goodness : 0.707852 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.11, Z:1.83 [[ 9.99314006e-01 -3.09389129e-02 -2.03543984e-02 -4.77590536e+00] [ 3.10306404e-02 9.99509584e-01 4.20614812e-03 2.10645420e+00] [ 2.02142826e-02 -4.83487274e-03 9.99783980e-01 1.82821733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694839173 meters Centerline goodness : 0.699340 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.10, Z:1.83 [[ 0.9992936 -0.03122936 -0.02090535 -4.77383091] [ 0.03133766 0.99949698 0.0048726 2.10395167] [ 0.02074267 -0.00552428 0.99976959 1.82705801] [ 0. 0. 0. 1. ]] SLAMing on 38.72483917299999 meters Centerline goodness : 0.697214 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.10, Z:1.82 [[ 0.99933204 -0.02935945 -0.02175977 -4.77037398] [ 0.02953721 0.99953252 0.00789296 2.09800813] [ 0.02151786 -0.00853041 0.99973207 1.82429448] [ 0. 0. 0. 1. ]] SLAMing on 38.75483917299999 meters Centerline goodness : 0.689461 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.09, Z:1.82 [[ 0.99934667 -0.02853502 -0.02218059 -4.7684744 ] [ 0.02875733 0.99953868 0.00976941 2.0931266 ] [ 0.02189159 -0.01040088 0.99970625 1.82266722] [ 0. 0. 0. 1. ]] SLAMing on 38.784839172999995 meters Centerline goodness : 0.688180 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.09, Z:1.82 [[ 0.99926407 -0.03103116 -0.02254724 -4.76548459] [ 0.03123515 0.99947374 0.00875213 2.08658299] [ 0.02226379 -0.00944996 0.99970747 1.81952537] [ 0. 0. 0. 1. ]] SLAMing on 38.814839172999996 meters Centerline goodness : 0.685106 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.08, Z:1.82 [[ 0.99925771 -0.03115442 -0.02265894 -4.76509655] [ 0.03137971 0.99946089 0.00965595 2.08437096] [ 0.02234589 -0.01035981 0.99969662 1.81887637] [ 0. 0. 0. 1. ]] SLAMing on 38.844839173 meters Centerline goodness : 0.681095 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.08, Z:1.82 [[ 0.99911754 -0.03487646 -0.02340443 -4.76246827] [ 0.03505599 0.99935865 0.00730456 2.08246222] [ 0.02313466 -0.00811858 0.99969939 1.81695072] [ 0. 0. 0. 1. ]] SLAMing on 38.874839173 meters Centerline goodness : 0.643478 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.08, Z:1.83 [[ 0.99886426 -0.03949321 -0.02665492 -4.73387405] [ 0.03934828 0.9992079 -0.0059403 2.08245624] [ 0.02686841 0.00488473 0.99962704 1.834935 ] [ 0. 0. 0. 1. ]] SLAMing on 38.90483917299999 meters Centerline goodness : 0.678802 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.07, Z:1.82 [[ 0.99857398 -0.04572826 -0.02754862 -4.73786359] [ 0.04653221 0.99848743 0.02928476 2.07271148] [ 0.02616781 -0.0305249 0.99919141 1.8161233 ] [ 0. 0. 0. 1. ]] SLAMing on 38.93483917299999 meters Centerline goodness : 0.688270 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.07, Z:1.81 [[ 0.99826385 -0.05562082 -0.01938058 -4.72893072] [ 0.05618041 0.99798069 0.02963626 2.0701473 ] [ 0.01769305 -0.03067362 0.99937285 1.81202501] [ 0. 0. 0. 1. ]] SLAMing on 38.964839172999994 meters Centerline goodness : 0.695996 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.07, Z:1.81 [[ 0.99807482 -0.05890092 -0.01942506 -4.72777755] [ 0.05938993 0.99790553 0.02563943 2.07307826] [ 0.01787419 -0.02674372 0.99948251 1.81162748] [ 0. 0. 0. 1. ]] SLAMing on 38.994839172999995 meters Centerline goodness : 0.708518 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.08, Z:1.81 [[ 0.99789099 -0.06388023 -0.01152808 -4.7216622 ] [ 0.06420752 0.99746441 0.03069424 2.07684708] [ 0.00953809 -0.03136969 0.99946234 1.81021179] [ 0. 0. 0. 1. ]] SLAMing on 39.024839173 meters Centerline goodness : 0.706541 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.08, Z:1.81 [[ 0.99764141 -0.06764704 -0.01164052 -4.72051206] [ 0.06793854 0.99732965 0.02679424 2.07828677] [ 0.00979689 -0.02752188 0.99957319 1.80986014] [ 0. 0. 0. 1. ]] SLAMing on 39.054839173 meters Centerline goodness : 0.706541 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.08, Z:1.81 [[ 0.99764141 -0.06764704 -0.01164052 -4.72051206] [ 0.06793854 0.99732965 0.02679424 2.07828677] [ 0.00979689 -0.02752188 0.99957319 1.80986014] [ 0. 0. 0. 1. ]] SLAMing on 39.08483917299999 meters Centerline goodness : 0.710386 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.08, Z:1.81 [[ 0.99669014 -0.0802428 -0.01303297 -4.66951489] [ 0.08048237 0.99657427 0.01903464 2.07758513] [ 0.01146093 -0.02002056 0.99973388 1.81213671] [ 0. 0. 0. 1. ]] SLAMing on 39.11483917299999 meters Centerline goodness : 0.721628 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.07, Z:1.82 [[ 0.99630944 -0.08146305 -0.02704213 -4.66454929] [ 0.08209307 0.9963577 0.02306653 2.06762093] [ 0.02506457 -0.02520137 0.99936813 1.81877989] [ 0. 0. 0. 1. ]] SLAMing on 39.144839172999994 meters Centerline goodness : 0.723656 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.07, Z:1.82 [[ 0.99624171 -0.08201086 -0.02786876 -4.6624577 ] [ 0.08268463 0.99628794 0.02394984 2.06672058] [ 0.02580116 -0.02616415 0.99932464 1.81886481] [ 0. 0. 0. 1. ]] SLAMing on 39.174839172999995 meters Centerline goodness : 0.724066 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.07, Z:1.82 [[ 0.99661062 -0.07731823 -0.02809215 -4.66447647] [ 0.07811987 0.99653206 0.02865562 2.06714753] [ 0.02577913 -0.03075305 0.99919452 1.82187252] [ 0. 0. 0. 1. ]] SLAMing on 39.204839172999996 meters Centerline goodness : 0.727689 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.07, Z:1.82 [[ 0.9969005 -0.07335864 -0.02842347 -4.66639111] [ 0.07427632 0.99670144 0.03269978 2.0687258 ] [ 0.0259309 -0.03470961 0.99906097 1.82468998] [ 0. 0. 0. 1. ]] SLAMing on 39.234839173 meters Centerline goodness : 0.730027 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.07, Z:1.82 [[ 0.99696446 -0.07195397 -0.02974024 -4.66377289] [ 0.07300209 0.99668898 0.03580185 2.07058309] [ 0.02706568 -0.03786427 0.99891629 1.82489993] [ 0. 0. 0. 1. ]] SLAMing on 39.264839173 meters Centerline goodness : 0.739880 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.07, Z:1.82 [[ 0.99674851 -0.07673106 -0.02459166 -4.65147483] [ 0.07769024 0.99614381 0.04076449 2.07292434] [ 0.02136893 -0.04254247 0.99886611 1.81621079] [ 0. 0. 0. 1. ]] SLAMing on 39.29483917299999 meters Centerline goodness : 0.742218 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.07, Z:1.82 [[ 0.99642263 -0.08066158 -0.02521226 -4.64936732] [ 0.08157345 0.99596105 0.0375149 2.07216949] [ 0.02208441 -0.03943735 0.99897796 1.8162257 ] [ 0. 0. 0. 1. ]] SLAMing on 39.324839172999994 meters Centerline goodness : 0.744215 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.07, Z:1.82 [[ 0.9965853 -0.07830607 -0.02618984 -4.64753175] [ 0.07935631 0.99596929 0.04180604 2.07054005] [ 0.02281061 -0.04374161 0.99878243 1.81614583] [ 0. 0. 0. 1. ]] SLAMing on 39.354839172999995 meters Centerline goodness : 0.745353 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.07, Z:1.82 [[ 0.99693661 -0.07383579 -0.02580068 -4.6502005 ] [ 0.07492596 0.99620874 0.04420696 2.0731356 ] [ 0.0224388 -0.04600468 0.99868918 1.81739393] [ 0. 0. 0. 1. ]] SLAMing on 39.384839172999996 meters Centerline goodness : 0.749111 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.08, Z:1.82 [[ 0.9969056 -0.07425921 -0.02578345 -4.65139648] [ 0.07530289 0.99626775 0.04219052 2.07956889] [ 0.02255419 -0.04400154 0.99877684 1.81928776] [ 0. 0. 0. 1. ]] SLAMing on 39.414839173 meters Centerline goodness : 0.754331 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.08, Z:1.82 [[ 0.99713112 -0.07097384 -0.02631065 -4.65334099] [ 0.07213075 0.99633408 0.04599514 2.08200535] [ 0.02294975 -0.047761 0.99859511 1.82283205] [ 0. 0. 0. 1. ]] SLAMing on 39.444839173 meters Centerline goodness : 0.759496 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.10, Z:1.83 [[ 0.99697456 -0.07476327 -0.02126463 -4.64034258] [ 0.07562114 0.99621351 0.04289632 2.0969763 ] [ 0.01797705 -0.04437459 0.9988532 1.82809906] [ 0. 0. 0. 1. ]] SLAMing on 39.47483917299999 meters Centerline goodness : 0.755772 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.10, Z:1.83 [[ 0.99666423 -0.07891162 -0.02081767 -4.64090433] [ 0.07964584 0.9961297 0.03717745 2.10199401] [ 0.01780337 -0.03871148 0.99909182 1.82926005] [ 0. 0. 0. 1. ]] SLAMing on 39.50483917299999 meters Centerline goodness : 0.760353 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.10, Z:1.83 [[ 0.99677635 -0.07769808 -0.019998 -4.64316089] [ 0.07839773 0.99623637 0.0369714 2.10238042] [ 0.01705013 -0.03842001 0.99911621 1.83008075] [ 0. 0. 0. 1. ]] SLAMing on 39.534839172999995 meters Centerline goodness : 0.763711 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.11, Z:1.83 [[ 0.99662595 -0.07982874 -0.01908131 -4.64776163] [ 0.08042982 0.99620928 0.03313782 2.10885348] [ 0.01636363 -0.03456072 0.99926863 1.83496912] [ 0. 0. 0. 1. ]] SLAMing on 39.564839172999996 meters Centerline goodness : 0.765978 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.11, Z:1.84 [[ 0.99663608 -0.07965531 -0.01927554 -4.64764247] [ 0.08026651 0.99621576 0.03333843 2.10914264] [ 0.01654702 -0.03477347 0.99925823 1.83527053] [ 0. 0. 0. 1. ]] SLAMing on 39.594839173 meters Centerline goodness : 0.766812 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.11, Z:1.84 [[ 0.99659954 -0.08010986 -0.01928146 -4.64839595] [ 0.08072025 0.99618074 0.03328921 2.10849117] [ 0.01654102 -0.03473242 0.99925975 1.8366442 ] [ 0. 0. 0. 1. ]] SLAMing on 39.624839173 meters Centerline goodness : 0.768195 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.11, Z:1.84 [[ 0.99636079 -0.08272426 -0.02053941 -4.64972883] [ 0.08339231 0.99593203 0.03413389 2.11178652] [ 0.01763215 -0.0357225 0.99920619 1.84262631] [ 0. 0. 0. 1. ]] SLAMing on 39.65483917299999 meters Centerline goodness : 0.771095 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.11, Z:1.85 [[ 0.99639864 -0.08181746 -0.02226316 -4.64907974] [ 0.08262919 0.9958411 0.03837865 2.11397401] [ 0.01903053 -0.04008002 0.99901523 1.8463601 ] [ 0. 0. 0. 1. ]] SLAMing on 39.68483917299999 meters Centerline goodness : 0.770791 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.12, Z:1.86 [[ 0.99643214 -0.07685397 -0.03487784 -4.65183595] [ 0.07821019 0.99616018 0.03934531 2.11964232] [ 0.03172007 -0.04193273 0.99861678 1.85660388] [ 0. 0. 0. 1. ]] SLAMing on 39.714839172999994 meters Centerline goodness : 0.769018 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.12, Z:1.86 [[ 0.99652968 -0.07470647 -0.03670876 -4.64842253] [ 0.07623897 0.99619238 0.04228905 2.12267115] [ 0.03340972 -0.04494093 0.99843082 1.8559628 ] [ 0. 0. 0. 1. ]] SLAMing on 39.744839172999995 meters Centerline goodness : 0.769954 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.12, Z:1.86 [[ 0.99654552 -0.07457952 -0.03653658 -4.64939271] [ 0.07607086 0.99624734 0.0412852 2.124944 ] [ 0.03332044 -0.04392195 0.99847915 1.8564252 ] [ 0. 0. 0. 1. ]] SLAMing on 39.774839173 meters Centerline goodness : 0.769803 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.13, Z:1.86 [[ 0.99649242 -0.07515534 -0.03680392 -4.64867167] [ 0.07660184 0.99627468 0.03960969 2.13036475] [ 0.03368993 -0.04229 0.9985372 1.85631601] [ 0. 0. 0. 1. ]] SLAMing on 39.804839173 meters Centerline goodness : 0.768332 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.13, Z:1.85 [[ 0.9964816 -0.07516197 -0.03708222 -4.64709501] [ 0.07661008 0.99628589 0.03931063 2.13204637] [ 0.03398983 -0.04201319 0.99853872 1.85489691] [ 0. 0. 0. 1. ]] SLAMing on 39.83483917299999 meters Centerline goodness : 0.768132 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.14, Z:1.85 [[ 0.99642448 -0.07573047 -0.03745857 -4.64346182] [ 0.07712876 0.9963191 0.03740853 2.13973192] [ 0.03448773 -0.04016391 0.99859775 1.85133804] [ 0. 0. 0. 1. ]] SLAMing on 39.86483917299999 meters Centerline goodness : 0.767636 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.15, Z:1.85 [[ 0.99638907 -0.0762135 -0.03742082 -4.64377782] [ 0.077534 0.99636801 0.03520335 2.14710869] [ 0.03460194 -0.03797762 0.99867933 1.85200834] [ 0. 0. 0. 1. ]] SLAMing on 39.894839172999994 meters Centerline goodness : 0.762847 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.15, Z:1.85 [[ 0.99651065 -0.07427173 -0.038082 -4.64100609] [ 0.07564878 0.99648114 0.03609151 2.15491887] [ 0.03526742 -0.03884644 0.99862263 1.84940287] [ 0. 0. 0. 1. ]] SLAMing on 39.924839172999995 meters Centerline goodness : 0.760623 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.16, Z:1.85 [[ 0.99651395 -0.07397718 -0.03856593 -4.63857278] [ 0.07536902 0.99650643 0.03597831 2.15643137] [ 0.03576962 -0.03875957 0.99860815 1.84750656] [ 0. 0. 0. 1. ]] SLAMing on 39.954839172999996 meters Centerline goodness : 0.757089 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.16, Z:1.84 [[ 0.99651029 -0.07397144 -0.03867137 -4.63592363] [ 0.07529791 0.99657961 0.03404871 2.16439456] [ 0.03602047 -0.03684177 0.99867172 1.84488199] [ 0. 0. 0. 1. ]] SLAMing on 39.984839173 meters Centerline goodness : 0.758477 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.17, Z:1.84 [[ 0.99624152 -0.0776483 -0.0383872 -4.63526282] [ 0.07878918 0.99646482 0.02915704 2.16927231] [ 0.0359875 -0.03207195 0.99883747 1.84462502] [ 0. 0. 0. 1. ]] SLAMing on 40.014839173 meters Centerline goodness : 0.754921 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.17, Z:1.85 [[ 0.99619067 -0.07837244 -0.038235 -4.63591096] [ 0.07945692 0.99645287 0.02771796 2.17333871] [ 0.03592705 -0.03065041 0.99888428 1.84512631] [ 0. 0. 0. 1. ]] SLAMing on 40.04483917299999 meters Centerline goodness : 0.754284 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.18, Z:1.85 [[ 0.99638877 -0.07594461 -0.03797146 -4.63810281] [ 0.07706114 0.99660863 0.02885872 2.18192408] [ 0.03565102 -0.03168063 0.99886202 1.84619676] [ 0. 0. 0. 1. ]] SLAMing on 40.074839172999994 meters Centerline goodness : 0.751014 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.19, Z:1.85 [[ 0.99663238 -0.07241029 -0.03847926 -4.6371671 ] [ 0.07363588 0.99678923 0.03144826 2.18839514] [ 0.03607854 -0.03417581 0.99876441 1.8452488 ] [ 0. 0. 0. 1. ]] SLAMing on 40.104839172999995 meters Centerline goodness : 0.751771 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.19, Z:1.85 [[ 0.99663257 -0.07239291 -0.03850704 -4.63746329] [ 0.07357242 0.99683405 0.03014913 2.1931235 ] [ 0.03620255 -0.03288066 0.9988034 1.84628193] [ 0. 0. 0. 1. ]] SLAMing on 40.134839172999996 meters Centerline goodness : 0.751631 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.20, Z:1.85 [[ 0.99689747 -0.06859051 -0.03861069 -4.6380875 ] [ 0.06985539 0.99703009 0.03242258 2.1977521 ] [ 0.03627213 -0.03501915 0.99872819 1.84720928] [ 0. 0. 0. 1. ]] SLAMing on 40.164839173 meters Centerline goodness : 0.750991 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.20, Z:1.85 [[ 0.99692183 -0.06810542 -0.03883954 -4.63636965] [ 0.06935093 0.99708931 0.03167576 2.203104 ] [ 0.0365692 -0.03427181 0.99874328 1.8458429 ] [ 0. 0. 0. 1. ]] SLAMing on 40.194839173 meters Centerline goodness : 0.749560 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.21, Z:1.84 [[ 0.99690833 -0.0681794 -0.03905574 -4.63524717] [ 0.06938703 0.99712508 0.03044687 2.20986464] [ 0.03686761 -0.0330627 0.99877307 1.84494187] [ 0. 0. 0. 1. ]] SLAMing on 40.22483917299999 meters Centerline goodness : 0.747194 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.22, Z:1.84 [[ 0.99677683 -0.07056321 -0.03816796 -4.63678314] [ 0.0716306 0.99705593 0.02735937 2.219516 ] [ 0.03612502 -0.03000518 0.99889673 1.84397276] [ 0. 0. 0. 1. ]] SLAMing on 40.25483917299999 meters Centerline goodness : 0.745783 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.22, Z:1.84 [[ 0.99614977 -0.07963394 -0.03666146 -4.6380891 ] [ 0.08029703 0.99662631 0.01698206 2.22480566] [ 0.03518542 -0.01986048 0.99918344 1.84432902] [ 0. 0. 0. 1. ]] SLAMing on 40.284839172999995 meters Centerline goodness : 0.744302 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.23, Z:1.84 [[ 0.99608918 -0.08047442 -0.03647207 -4.63752705] [ 0.08105902 0.9965988 0.01484168 2.23286681] [ 0.03515364 -0.01774003 0.99922446 1.84319234] [ 0. 0. 0. 1. ]] SLAMing on 40.314839172999996 meters Centerline goodness : 0.743982 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.24, Z:1.84 [[ 0.9963496 -0.07719798 -0.03644113 -4.6379242 ] [ 0.07788951 0.99680035 0.01795242 2.2370812 ] [ 0.03493864 -0.02072527 0.99917454 1.84206187] [ 0. 0. 0. 1. ]] SLAMing on 40.344839173 meters Centerline goodness : 0.744800 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.24, Z:1.84 [[ 0.99659165 -0.07409716 -0.03625868 -4.63847851] [ 0.07489156 0.99696921 0.02106293 2.24153469] [ 0.03458808 -0.02370661 0.99912044 1.84055271] [ 0. 0. 0. 1. ]] SLAMing on 40.374839173 meters Centerline goodness : 0.742469 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.26, Z:1.84 [[ 0.99700187 -0.06875193 -0.03550283 -4.64332211] [ 0.0696675 0.99725121 0.02522837 2.25622665] [ 0.03367074 -0.02762612 0.99905109 1.84180291] [ 0. 0. 0. 1. ]] SLAMing on 40.40483917299999 meters Centerline goodness : 0.745439 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.26, Z:1.84 [[ 0.99695057 -0.06976717 -0.03495868 -4.64577044] [ 0.07057902 0.99725122 0.02255223 2.26304089] [ 0.03328918 -0.02495081 0.99913427 1.84438052] [ 0. 0. 0. 1. ]] SLAMing on 40.43483917299999 meters Centerline goodness : 0.746823 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.27, Z:1.85 [[ 0.99669155 -0.07375084 -0.03415807 -4.64692939] [ 0.07433321 0.99710342 0.01610383 2.26785307] [ 0.03287145 -0.01858963 0.99928669 1.84706365] [ 0. 0. 0. 1. ]] SLAMing on 40.464839172999994 meters Centerline goodness : 0.744897 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.28, Z:1.85 [[ 0.99664613 -0.0743075 -0.03427671 -4.64565176] [ 0.07483592 0.99709191 0.01439819 2.27544661] [ 0.03310713 -0.01691503 0.99930866 1.8457457 ] [ 0. 0. 0. 1. ]] SLAMing on 40.494839172999995 meters Centerline goodness : 0.743156 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.28, Z:1.84 [[ 0.9968362 -0.0717694 -0.03415774 -4.64481887] [ 0.07237221 0.99723704 0.01674954 2.28061768] [ 0.03286126 -0.01916862 0.99927609 1.8431756 ] [ 0. 0. 0. 1. ]] SLAMing on 40.524839173 meters Centerline goodness : 0.741390 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.29, Z:1.84 [[ 0.99703925 -0.06899851 -0.03394022 -4.64375467] [ 0.06964644 0.99740401 0.01829222 2.28894136] [ 0.03258997 -0.02060188 0.99925645 1.84073404] [ 0. 0. 0. 1. ]] SLAMing on 40.554839173 meters Centerline goodness : 0.740424 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.29, Z:1.84 [[ 0.99705438 -0.06867226 -0.03415674 -4.64253698] [ 0.06929423 0.99744503 0.01737032 2.29155331] [ 0.03287662 -0.01968602 0.99926552 1.84075138] [ 0. 0. 0. 1. ]] SLAMing on 40.58483917299999 meters Centerline goodness : 0.741619 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.30, Z:1.84 [[ 0.99706194 -0.06857293 -0.03413556 -4.64180077] [ 0.06915102 0.99747706 0.01605172 2.29622354] [ 0.03294873 -0.01836507 0.9992883 1.84059571] [ 0. 0. 0. 1. ]] SLAMing on 40.61483917299999 meters Centerline goodness : 0.742525 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.30, Z:1.84 [[ 0.99701611 -0.06926066 -0.03408581 -4.64254204] [ 0.06978469 0.99745769 0.01443096 2.30142336] [ 0.03299965 -0.01676657 0.99931472 1.841737 ] [ 0. 0. 0. 1. ]] SLAMing on 40.644839172999994 meters Centerline goodness : 0.741563 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.31, Z:1.84 [[ 0.996982 -0.0697272 -0.03413224 -4.64314722] [ 0.07019655 0.9974517 0.01274983 2.30778935] [ 0.03315625 -0.01510732 0.999336 1.84310612] [ 0. 0. 0. 1. ]] SLAMing on 40.674839172999995 meters Centerline goodness : 0.743345 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.32, Z:1.84 [[ 0.99746316 -0.06246737 -0.03413303 -4.64245025] [ 0.06314032 0.99782367 0.01900581 2.31524933] [ 0.0328715 -0.02111277 0.99923657 1.84069836] [ 0. 0. 0. 1. ]] SLAMing on 40.704839172999996 meters Centerline goodness : 0.742443 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.32, Z:1.84 [[ 0.99770519 -0.05826646 -0.03448722 -4.64127499] [ 0.05905713 0.99800395 0.022369 2.3184877 ] [ 0.03311502 -0.02435438 0.99915477 1.83968524] [ 0. 0. 0. 1. ]] SLAMing on 40.734839173 meters Centerline goodness : 0.743388 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.32, Z:1.84 [[ 0.99798042 -0.05323613 -0.03465537 -4.63901506] [ 0.05412309 0.99821676 0.02517912 2.3248388 ] [ 0.03325313 -0.02700393 0.99908209 1.83807724] [ 0. 0. 0. 1. ]] SLAMing on 40.764839173 meters Centerline goodness : 0.746152 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99790898 -0.05511577 -0.03376267 -4.6435698 ] [ 0.05590639 0.99817249 0.02293805 2.32918737] [ 0.03243672 -0.02477764 0.99916662 1.84132282] [ 0. 0. 0. 1. ]] SLAMing on 40.79483917299999 meters Centerline goodness : 0.754445 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99789239 -0.05979254 -0.02521154 -4.6429922 ] [ 0.06051468 0.99774812 0.02892508 2.33170696] [ 0.02342526 -0.03038979 0.99926359 1.84474171] [ 0. 0. 0. 1. ]] SLAMing on 40.824839172999994 meters Centerline goodness : 0.756720 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.85 [[ 0.99786467 -0.06028351 -0.0251395 -4.64429212] [ 0.06098624 0.99774041 0.0281913 2.33263468] [ 0.02338322 -0.02966426 0.99928637 1.84648402] [ 0. 0. 0. 1. ]] SLAMing on 40.854839172999995 meters Centerline goodness : 0.749058 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99799229 -0.05758299 -0.0263741 -4.63801455] [ 0.05835664 0.99785781 0.02956831 2.33172168] [ 0.02461497 -0.03104805 0.99921475 1.84354816] [ 0. 0. 0. 1. ]] SLAMing on 40.884839172999996 meters Centerline goodness : 0.751076 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.84 [[ 0.99806109 -0.0559597 -0.02725021 -4.63364339] [ 0.05677462 0.99793286 0.03011051 2.33277423] [ 0.0255089 -0.03159925 0.99917505 1.84139605] [ 0. 0. 0. 1. ]] SLAMing on 40.914839173 meters Centerline goodness : 0.748403 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.84 [[ 0.99816791 -0.05358017 -0.02810675 -4.62868691] [ 0.05443566 0.99804798 0.03061017 2.33479707] [ 0.02641179 -0.0320841 0.99913614 1.83935963] [ 0. 0. 0. 1. ]] SLAMing on 40.944839173 meters Centerline goodness : 0.748403 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.84 [[ 0.99816791 -0.05358017 -0.02810675 -4.62868691] [ 0.05443566 0.99804798 0.03061017 2.33479707] [ 0.02641179 -0.0320841 0.99913614 1.83935963] [ 0. 0. 0. 1. ]] SLAMing on 40.97483917299999 meters Centerline goodness : 0.748565 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.34, Z:1.84 [[ 0.99798945 -0.05664655 -0.02842942 -4.62669885] [ 0.05739288 0.99800885 0.02616089 2.33621485] [ 0.02689089 -0.02773994 0.99925341 1.84010686] [ 0. 0. 0. 1. ]] SLAMing on 41.00483917299999 meters Centerline goodness : 0.750523 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.84 [[ 0.99772671 -0.06127534 -0.02804906 -4.62867364] [ 0.06190618 0.99783498 0.02220298 2.33067105] [ 0.02662784 -0.02388892 0.99935993 1.84283117] [ 0. 0. 0. 1. ]] SLAMing on 41.034839172999995 meters Centerline goodness : 0.749560 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.84 [[ 0.99755919 -0.06346798 -0.02911146 -4.62432897] [ 0.064051 0.99775509 0.01955123 2.32617818] [ 0.02780523 -0.02136812 0.99938495 1.84241272] [ 0. 0. 0. 1. ]] SLAMing on 41.064839172999996 meters Centerline goodness : 0.748159 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 0.99760928 -0.06228529 -0.02993782 -4.62101296] [ 0.06291155 0.99780953 0.02045193 2.32466834] [ 0.02859839 -0.02228647 0.99934251 1.84093328] [ 0. 0. 0. 1. ]] SLAMing on 41.094839173 meters Centerline goodness : 0.747414 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 0.99765386 -0.06120983 -0.03066147 -4.6180241 ] [ 0.06187243 0.99785999 0.02114788 2.32328757] [ 0.02930139 -0.02299537 0.99930608 1.83972522] [ 0. 0. 0. 1. ]] SLAMing on 41.124839173 meters Centerline goodness : 0.747306 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.84 [[ 0.9977601 -0.05910083 -0.03133496 -4.61426102] [ 0.05979226 0.99797696 0.02160745 2.32308537] [ 0.02999455 -0.02343264 0.99927536 1.83891808] [ 0. 0. 0. 1. ]] SLAMing on 41.15483917299999 meters Centerline goodness : 0.747891 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.84 [[ 0.99776177 -0.05901 -0.03145259 -4.61416982] [ 0.0597026 0.99798345 0.02155523 2.3228079 ] [ 0.03011719 -0.02338478 0.99927279 1.83935581] [ 0. 0. 0. 1. ]] SLAMing on 41.18483917299999 meters Centerline goodness : 0.749769 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.84 [[ 0.99778977 -0.05822271 -0.03202632 -4.61274248] [ 0.05891073 0.99804286 0.02097563 2.32523711] [ 0.03074238 -0.02281596 0.9992669 1.84054981] [ 0. 0. 0. 1. ]] SLAMing on 41.214839172999994 meters Centerline goodness : 0.747977 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.84 [[ 0.99779379 -0.05805158 -0.03221139 -4.61233028] [ 0.05873918 0.99805609 0.02082667 2.32545024] [ 0.03093976 -0.02267279 0.99926407 1.84093537] [ 0. 0. 0. 1. ]] SLAMing on 41.244839172999995 meters Centerline goodness : 0.749762 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.84 [[ 0.99780442 -0.05765982 -0.03258349 -4.61082682] [ 0.05836224 0.99807387 0.02103332 2.32527265] [ 0.03130795 -0.02288878 0.99924768 1.84028282] [ 0. 0. 0. 1. ]] SLAMing on 41.274839173 meters Centerline goodness : 0.747671 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.84 [[ 0.99778163 -0.05816288 -0.03238685 -4.61187807] [ 0.05885079 0.99805199 0.02070769 2.32501886] [ 0.03111934 -0.02256774 0.99926087 1.84100098] [ 0. 0. 0. 1. ]] SLAMing on 41.304839173 meters Centerline goodness : 0.754240 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 0.99798939 -0.06093896 -0.01742481 -4.61566894] [ 0.0613297 0.99785608 0.02284537 2.32174707] [ 0.01599528 -0.0238681 0.99958715 1.83714218] [ 0. 0. 0. 1. ]] SLAMing on 41.33483917299999 meters Centerline goodness : 0.753823 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 0.99772602 -0.06511364 -0.01740669 -4.61613144] [ 0.06542966 0.99769034 0.01824704 2.32129524] [ 0.01617835 -0.01934446 0.99968198 1.8393442 ] [ 0. 0. 0. 1. ]] SLAMing on 41.36483917299999 meters Centerline goodness : 0.754467 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 0.99773065 -0.06503709 -0.01742777 -4.61632656] [ 0.06536531 0.99768096 0.01897572 2.31739532] [ 0.01615323 -0.02007183 0.99966804 1.83959585] [ 0. 0. 0. 1. ]] SLAMing on 41.394839172999994 meters Centerline goodness : 0.753432 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.84 [[ 0.99750198 -0.06834164 -0.01786672 -4.61398704] [ 0.06862363 0.99751945 0.01567643 2.31616519] [ 0.01675105 -0.01686335 0.99971747 1.83889803] [ 0. 0. 0. 1. ]] SLAMing on 41.424839172999995 meters Centerline goodness : 0.752911 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.84 [[ 0.99720877 -0.07258418 -0.01749866 -4.61426162] [ 0.07279819 0.99727547 0.01191899 2.31531697] [ 0.01658585 -0.01315959 0.99977584 1.83881594] [ 0. 0. 0. 1. ]] SLAMing on 41.454839172999996 meters Centerline goodness : 0.751584 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.84 [[ 0.99717005 -0.07314885 -0.01735303 -4.6149949 ] [ 0.07337093 0.99722607 0.0125251 2.31219233] [ 0.01638869 -0.01376286 0.99977097 1.83853793] [ 0. 0. 0. 1. ]] SLAMing on 41.484839173 meters Centerline goodness : 0.750659 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.84 [[ 0.99718658 -0.07285633 -0.01763199 -4.6136963 ] [ 0.07309782 0.99723392 0.01346176 2.30890724] [ 0.01660245 -0.01471275 0.99975392 1.8373716 ] [ 0. 0. 0. 1. ]] SLAMing on 41.514839173 meters Centerline goodness : 0.750827 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.84 [[ 0.99725276 -0.0718539 -0.01799856 -4.61139125] [ 0.07210409 0.99730357 0.01365979 2.3102869 ] [ 0.01696852 -0.01492003 0.9997447 1.83610618] [ 0. 0. 0. 1. ]] SLAMing on 41.54483917299999 meters Centerline goodness : 0.751439 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.31, Z:1.84 [[ 0.99717968 -0.07302181 -0.0173349 -4.61527707] [ 0.0732273 0.99724863 0.01152973 2.31152089] [ 0.01644528 -0.0127666 0.99978326 1.84075618] [ 0. 0. 0. 1. ]] SLAMing on 41.574839172999994 meters Centerline goodness : 0.752410 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.31, Z:1.84 [[ 0.9971381 -0.07369377 -0.01687707 -4.61697728] [ 0.0738943 0.99719881 0.01158284 2.30956088] [ 0.01597622 -0.01279681 0.99979048 1.84123084] [ 0. 0. 0. 1. ]] SLAMing on 41.604839172999995 meters Centerline goodness : 0.749986 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.31, Z:1.84 [[ 0.99710028 -0.0741962 -0.01691033 -4.6168068 ] [ 0.07440509 0.99715497 0.01207655 2.30930811] [ 0.01596619 -0.01329975 0.99978408 1.83994505] [ 0. 0. 0. 1. ]] SLAMing on 41.634839172999996 meters Centerline goodness : 0.750313 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.31, Z:1.84 [[ 0.9970992 -0.07420245 -0.01694618 -4.61669193] [ 0.07441317 0.99715334 0.01216123 2.30976996] [ 0.01599554 -0.01338697 0.99978244 1.83970228] [ 0. 0. 0. 1. ]] SLAMing on 41.664839173 meters Centerline goodness : 0.749923 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.31, Z:1.84 [[ 0.99711735 -0.07393495 -0.01704716 -4.61604859] [ 0.07416325 0.99715911 0.013173 2.30633419] [ 0.01602478 -0.0143993 0.99976791 1.83879517] [ 0. 0. 0. 1. ]] SLAMing on 41.694839173 meters Centerline goodness : 0.751893 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97156049e-01 -7.53327783e-02 -2.18798534e-03 -4.61712054e+00] [ 7.53576235e-02 9.97037659e-01 1.53991917e-02 2.30088511e+00] [ 1.02143989e-03 -1.55202785e-02 9.99879031e-01 1.83215689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72483917299999 meters Centerline goodness : 0.754490 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97097913e-01 -7.61110192e-02 -1.69233198e-03 -4.61960268e+00] [ 7.61275990e-02 9.96992531e-01 1.45080067e-02 2.30157047e+00] [ 5.83023166e-04 -1.45947364e-02 9.99893321e-01 1.83431418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75483917299999 meters Centerline goodness : 0.753925 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.84 [[ 9.97354424e-01 -7.26688350e-02 -1.84207635e-03 -4.62116393e+00] [ 7.26901416e-02 9.97195912e-01 1.77892303e-02 2.30207827e+00] [ 5.44188372e-04 -1.78760683e-02 9.99840062e-01 1.83619910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784839172999995 meters Centerline goodness : 0.751198 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97390942e-01 -7.21483128e-02 -2.43507646e-03 -4.61529281e+00] [ 7.21803898e-02 9.97231772e-01 1.78545405e-02 2.29982284e+00] [ 1.14016064e-03 -1.79837217e-02 9.99837630e-01 1.83158092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814839172999996 meters Centerline goodness : 0.750996 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97382305e-01 -7.22743034e-02 -2.22789547e-03 -4.61532034e+00] [ 7.23030282e-02 9.97215127e-01 1.82828311e-02 2.29835907e+00] [ 9.00312184e-04 -1.83960558e-02 9.99830373e-01 1.83064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844839173 meters Centerline goodness : 0.754211 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97041682e-01 -7.68415725e-02 -1.80471503e-03 -4.61741624e+00] [ 7.68590109e-02 9.96950141e-01 1.35317679e-02 2.29754336e+00] [ 7.59408580e-04 -1.36304453e-02 9.99906813e-01 1.83384918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874839173 meters Centerline goodness : 0.755007 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.30, Z:1.83 [[ 9.97022885e-01 -7.70860019e-02 -1.76499987e-03 -4.61803551e+00] [ 7.71029947e-02 9.96929029e-01 1.36981595e-02 2.29563534e+00] [ 7.03643261e-04 -1.37934653e-02 9.99904618e-01 1.83456651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90483917299999 meters Centerline goodness : 0.753421 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.83 [[ 9.97054587e-01 -7.66650616e-02 -2.14925292e-03 -4.61664864e+00] [ 7.66881035e-02 9.96951754e-01 1.43574351e-02 2.29405028e+00] [ 1.04198783e-03 -1.44799686e-02 9.99894617e-01 1.83377835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93483917299999 meters Centerline goodness : 0.752648 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.83 [[ 9.97385159e-01 -7.21643695e-02 -3.89210205e-03 -4.60883788e+00] [ 7.22235748e-02 9.97222686e-01 1.81843226e-02 2.29585924e+00] [ 2.56903229e-03 -1.84178750e-02 9.99827076e-01 1.82837443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964839172999994 meters Centerline goodness : 0.750518 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.83 [[ 9.97409897e-01 -7.18139235e-02 -4.03210422e-03 -4.60797875e+00] [ 7.18759835e-02 9.97246327e-01 1.82648698e-02 2.29615649e+00] [ 2.70932916e-03 -1.85073733e-02 9.99825053e-01 1.82786398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994839172999995 meters Centerline goodness : 0.749938 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.83 [[ 9.97201739e-01 -7.46846690e-02 -3.30039929e-03 -4.61187548e+00] [ 7.47273707e-02 9.97081674e-01 1.56190997e-02 2.29480573e+00] [ 2.12426036e-03 -1.58220235e-02 9.99872567e-01 1.83133762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024839173 meters Centerline goodness : 0.751733 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.84 [[ 9.96851157e-01 -7.92551791e-02 -2.52725310e-03 -4.61651139e+00] [ 7.92791509e-02 9.96786208e-01 1.14922793e-02 2.29293193e+00] [ 1.60830839e-03 -1.16564504e-02 9.99930768e-01 1.83594315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054839173 meters Centerline goodness : 0.754592 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.84 [[ 9.96809255e-01 -7.97740975e-02 -2.72091456e-03 -4.61864606e+00] [ 7.97979496e-02 9.96758645e-01 1.02220294e-02 2.29313195e+00] [ 1.89664193e-03 -1.04065369e-02 9.99944052e-01 1.84058582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08483917299999 meters Centerline goodness : 0.750379 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.84 [[ 9.97272840e-01 -7.36773771e-02 -4.30421536e-03 -4.61282263e+00] [ 7.37366110e-02 9.97152955e-01 1.57764386e-02 2.29329986e+00] [ 3.12959446e-03 -1.60507919e-02 9.99866280e-01 1.83651820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11483917299999 meters Centerline goodness : 0.746391 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.83 [[ 0.99834019 -0.05623487 -0.01243018 -4.59993496] [ 0.05643422 0.99827301 0.01631463 2.29745528] [ 0.01149126 -0.01698903 0.99978964 1.82544258] [ 0. 0. 0. 1. ]] SLAMing on 42.144839172999994 meters Centerline goodness : 0.743913 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.82 [[ 0.99862933 -0.05065817 -0.01316075 -4.59599759] [ 0.05092441 0.99848693 0.02074987 2.29807263] [ 0.01208968 -0.02139163 0.99969807 1.82266813] [ 0. 0. 0. 1. ]] SLAMing on 42.174839172999995 meters Centerline goodness : 0.747659 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.83 [[ 0.99884137 -0.04655181 -0.01220026 -4.59937285] [ 0.04680468 0.99867625 0.02133237 2.30207174] [ 0.01119105 -0.02187868 0.999698 1.82860554] [ 0. 0. 0. 1. ]] SLAMing on 42.204839172999996 meters Centerline goodness : 0.750846 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.31, Z:1.83 [[ 0.99879831 -0.04755808 -0.01183909 -4.60257217] [ 0.04777142 0.99868805 0.01844088 2.30736777] [ 0.01094654 -0.01898429 0.99975986 1.833793 ] [ 0. 0. 0. 1. ]] SLAMing on 42.234839173 meters Centerline goodness : 0.755165 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.84 [[ 0.99873923 -0.04877933 -0.01185482 -4.60468596] [ 0.04896887 0.99866792 0.01626123 2.31502238] [ 0.01104582 -0.01682125 0.9997975 1.83673522] [ 0. 0. 0. 1. ]] SLAMing on 42.26483917299999 meters Centerline goodness : 0.753921 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 0.99873464 -0.04884946 -0.01195154 -4.60351385] [ 0.04904228 0.99866189 0.01641018 2.31635711] [ 0.01113392 -0.01697555 0.99979391 1.83496925] [ 0. 0. 0. 1. ]] SLAMing on 42.29483917299999 meters Centerline goodness : 0.751479 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 0.99874895 -0.04848087 -0.0122535 -4.60092137] [ 0.04868764 0.99866628 0.01718064 2.31597142] [ 0.01140423 -0.01775574 0.99977731 1.83190645] [ 0. 0. 0. 1. ]] SLAMing on 42.324839172999994 meters Centerline goodness : 0.746006 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 0.99876098 -0.04829067 -0.01202151 -4.59711349] [ 0.04848701 0.99868562 0.01661474 2.31916582] [ 0.01120337 -0.01717704 0.99978969 1.82702107] [ 0. 0. 0. 1. ]] SLAMing on 42.354839172999995 meters Centerline goodness : 0.748257 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.33, Z:1.83 [[ 0.99869847 -0.04983602 -0.01085096 -4.6014295 ] [ 0.04997065 0.99867233 0.01251053 2.32744003] [ 0.01021308 -0.01303648 0.99986286 1.83215896] [ 0. 0. 0. 1. ]] SLAMing on 42.384839172999996 meters Centerline goodness : 0.747185 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.33, Z:1.83 [[ 0.99863887 -0.05118394 -0.01003053 -4.6046848 ] [ 0.05130004 0.99861498 0.01167998 2.32794763] [ 0.00941881 -0.01217865 0.99988148 1.83353106] [ 0. 0. 0. 1. ]] SLAMing on 42.414839173 meters Centerline goodness : 0.751709 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.33, Z:1.83 [[ 9.98442056e-01 -5.57419126e-02 -2.50980314e-03 -4.60010958e+00] [ 5.57807521e-02 9.98247055e-01 1.97819436e-02 2.32670290e+00] [ 1.40272022e-03 -1.98911232e-02 9.99801168e-01 1.83177768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444839173 meters Centerline goodness : 0.752578 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 9.98396405e-01 -5.65597653e-02 -2.36864100e-03 -4.60164565e+00] [ 5.65958651e-02 9.98197522e-01 1.99653268e-02 2.32480312e+00] [ 1.23513739e-03 -2.00673657e-02 9.99797867e-01 1.83264816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47483917299999 meters Centerline goodness : 0.749871 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 9.98421237e-01 -5.60872988e-02 -3.04120420e-03 -4.59944177e+00] [ 5.61383622e-02 9.98208748e-01 2.06828293e-02 2.32304465e+00] [ 1.87571260e-03 -2.08209043e-02 9.99781462e-01 1.83170549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50483917299999 meters Centerline goodness : 0.745742 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.32, Z:1.83 [[ 9.98456140e-01 -5.54398393e-02 -3.42938651e-03 -4.59737413e+00] [ 5.55001923e-02 9.98234570e-01 2.11535311e-02 2.32218168e+00] [ 2.25058380e-03 -2.13112047e-02 9.99770357e-01 1.83033375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534839172999995 meters Centerline goodness : 0.741711 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.82 [[ 9.98534792e-01 -5.39618819e-02 -4.04783661e-03 -4.58917643e+00] [ 5.40339848e-02 9.98327658e-01 2.05478981e-02 2.31988885e+00] [ 2.93226400e-03 -2.07365119e-02 9.99780675e-01 1.82489771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564839172999996 meters Centerline goodness : 0.740101 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.82 [[ 9.98589397e-01 -5.28894365e-02 -4.68234640e-03 -4.58557964e+00] [ 5.29775655e-02 9.98368794e-01 2.12868197e-02 2.31877471e+00] [ 3.54886063e-03 -2.15048517e-02 9.99762445e-01 1.82234352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594839173 meters Centerline goodness : 0.738607 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.32, Z:1.82 [[ 9.98624621e-01 -5.21645628e-02 -5.26550119e-03 -4.58317138e+00] [ 5.22645618e-02 9.98410657e-01 2.10849398e-02 2.32047304e+00] [ 4.15724584e-03 -2.13311391e-02 9.99763822e-01 1.82159099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624839173 meters Centerline goodness : 0.740995 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.82 [[ 9.98558441e-01 -5.34730937e-02 -4.65482056e-03 -4.58608546e+00] [ 5.35550724e-02 9.98369415e-01 1.97576456e-02 2.32410324e+00] [ 3.59072805e-03 -1.99784530e-02 9.99793963e-01 1.82338841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65483917299999 meters Centerline goodness : 0.744923 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.32, Z:1.83 [[ 9.98044878e-01 -6.23873903e-02 3.77306537e-03 -4.58453412e+00] [ 6.22870715e-02 9.97803580e-01 2.25463116e-02 2.32324802e+00] [-5.17138368e-03 -2.22672176e-02 9.99738680e-01 1.82605026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68483917299999 meters Centerline goodness : 0.745924 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.83 [[ 0.99770991 -0.06748065 0.00461547 -4.58798479] [ 0.06738851 0.99756741 0.01783389 2.32191013] [-0.00580769 -0.01748202 0.99983031 1.82919607] [ 0. 0. 0. 1. ]] SLAMing on 42.714839172999994 meters Centerline goodness : 0.745049 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.83 [[ 0.99739206 -0.07198835 0.00517247 -4.58961743] [ 0.07191132 0.99731569 0.01379018 2.31980405] [-0.00615132 -0.01338226 0.99989153 1.83069377] [ 0. 0. 0. 1. ]] SLAMing on 42.744839172999995 meters Centerline goodness : 0.743801 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.31, Z:1.83 [[ 0.99713824 -0.07543256 0.00502545 -4.58749884] [ 0.07536944 0.99708648 0.01174728 2.31460421] [-0.00589693 -0.0113349 0.99991837 1.8281908 ] [ 0. 0. 0. 1. ]] SLAMing on 42.774839173 meters Centerline goodness : 0.736784 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.83 [[ 9.96964536e-01 -7.77410730e-02 4.24740165e-03 -4.58282400e+00] [ 7.76997854e-02 9.96934835e-01 9.14754306e-03 2.31242812e+00] [-4.94552248e-03 -8.78975382e-03 9.99949140e-01 1.82549862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804839173 meters Centerline goodness : 0.736172 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.82 [[ 9.96827551e-01 -7.95158413e-02 3.47339057e-03 -4.57702755e+00] [ 7.94905440e-02 9.96811751e-01 6.89832879e-03 2.30579980e+00] [-4.01084295e-03 -6.60034249e-03 9.99970174e-01 1.82249528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83483917299999 meters Centerline goodness : 0.737823 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.82 [[ 9.96832802e-01 -7.94480690e-02 3.51690552e-03 -4.57741141e+00] [ 7.94244132e-02 9.96820214e-01 6.42060736e-03 2.30597914e+00] [-4.01582737e-03 -6.12094387e-03 9.99973203e-01 1.82359128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86483917299999 meters Centerline goodness : 0.737823 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.82 [[ 9.96832802e-01 -7.94480690e-02 3.51690552e-03 -4.57741141e+00] [ 7.94244132e-02 9.96820214e-01 6.42060736e-03 2.30597914e+00] [-4.01582737e-03 -6.12094387e-03 9.99973203e-01 1.82359128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894839172999994 meters Centerline goodness : 0.738469 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.82 [[ 9.97090320e-01 -7.61328157e-02 3.83259090e-03 -4.57943392e+00] [ 7.60925466e-02 9.97053196e-01 9.73900218e-03 2.30746894e+00] [-4.56275466e-03 -9.41903319e-03 9.99945230e-01 1.82428261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924839172999995 meters Centerline goodness : 0.738425 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.82 [[ 9.97184412e-01 -7.49257209e-02 3.06337691e-03 -4.57661584e+00] [ 7.48922638e-02 9.97142762e-01 9.87218657e-03 2.30867556e+00] [-3.79430481e-03 -9.61496733e-03 9.99946576e-01 1.82359940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954839172999996 meters Centerline goodness : 0.739539 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.31, Z:1.82 [[ 9.97622795e-01 -6.88765236e-02 2.18708500e-03 -4.57348619e+00] [ 6.88389299e-02 9.97527483e-01 1.41464670e-02 2.31011290e+00] [-3.15603686e-03 -1.39622814e-02 9.99897542e-01 1.82292838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984839173 meters Centerline goodness : 0.744962 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.32, Z:1.83 [[ 9.98092390e-01 -6.17032275e-02 2.07200681e-03 -4.57655921e+00] [ 6.16489838e-02 9.97893394e-01 2.02033858e-02 2.31618899e+00] [-3.31425602e-03 -2.00371085e-02 9.99793744e-01 1.82648421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01483917299999 meters Centerline goodness : 0.744769 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.32, Z:1.83 [[ 9.98062147e-01 -6.21871852e-02 2.16923924e-03 -4.57859175e+00] [ 6.21365056e-02 9.97895464e-01 1.85391080e-02 2.32077638e+00] [-3.31756895e-03 -1.83683930e-02 9.99825783e-01 1.82986436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters Centerline goodness : 0.746289 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.84 [[ 9.97808045e-01 -6.60593341e-02 3.90763873e-03 -4.58607841e+00] [ 6.60036506e-02 9.97734921e-01 1.29824927e-02 2.32066011e+00] [-4.75640245e-03 -1.26961173e-02 9.99908088e-01 1.83896049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074839172999994 meters Centerline goodness : 0.749448 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.32, Z:1.84 [[ 9.97529368e-01 -7.01220325e-02 4.24976703e-03 -4.58698775e+00] [ 7.00826575e-02 9.97502396e-01 8.79725750e-03 2.31747501e+00] [-4.85603437e-03 -8.47768775e-03 9.99952273e-01 1.84094820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104839172999995 meters Centerline goodness : 0.748608 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.31, Z:1.84 [[ 9.97241476e-01 -7.40929302e-02 4.43587715e-03 -4.58714136e+00] [ 7.40709026e-02 9.97240743e-01 4.93985469e-03 2.31479779e+00] [-4.78964573e-03 -4.59765855e-03 9.99977960e-01 1.84193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134839172999996 meters Centerline goodness : 0.743256 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.31, Z:1.84 [[ 9.96699126e-01 -8.10885229e-02 3.93738532e-03 -4.58359331e+00] [ 8.10925207e-02 9.96706202e-01 -8.66269132e-04 2.30819063e+00] [-3.85417188e-03 1.18270219e-03 9.99991873e-01 1.83991997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164839173 meters Centerline goodness : 0.740729 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.30, Z:1.84 [[ 9.96422838e-01 -8.44296041e-02 3.62893164e-03 -4.58153638e+00] [ 8.44418751e-02 9.96422699e-01 -3.37255750e-03 2.30417467e+00] [-3.33120617e-03 3.66692711e-03 9.99987728e-01 1.83865946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194839173 meters Centerline goodness : 0.740635 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.30, Z:1.83 [[ 9.96206041e-01 -8.69787511e-02 2.86713081e-03 -4.57746237e+00] [ 8.69888173e-02 9.96202798e-01 -3.59595938e-03 2.29633120e+00] [-2.54347167e-03 3.83172478e-03 9.99989424e-01 1.83426866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters Centerline goodness : 0.739146 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.83 [[ 9.96279082e-01 -8.61530108e-02 2.37692435e-03 -4.57509711e+00] [ 8.61574904e-02 9.96279810e-01 -1.85118861e-03 2.29315210e+00] [-2.20859627e-03 2.04909033e-03 9.99995462e-01 1.83178291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25483917299999 meters Centerline goodness : 0.737409 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.29, Z:1.83 [[ 9.96488780e-01 -8.37179508e-02 1.19027529e-03 -4.56997651e+00] [ 8.37168708e-02 9.96489147e-01 9.30086591e-04 2.28574687e+00] [-1.26396136e-03 -8.27174729e-04 9.99998859e-01 1.82874446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284839172999995 meters Centerline goodness : 0.739225 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.28, Z:1.83 [[ 9.96563059e-01 -8.28344294e-02 7.26022904e-04 -4.56909616e+00] [ 8.28336531e-02 9.96562844e-01 1.04108660e-03 2.28401443e+00] [-8.09765264e-04 -9.77369313e-04 9.99999195e-01 1.83006463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314839172999996 meters Centerline goodness : 0.739677 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.28, Z:1.83 [[ 9.96845815e-01 -7.93596971e-02 6.78171856e-04 -4.57160355e+00] [ 7.93560766e-02 9.96837067e-01 4.29815835e-03 2.28079592e+00] [-1.01712739e-03 -4.23078410e-03 9.99990533e-01 1.83376005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344839173 meters Centerline goodness : 0.740096 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.28, Z:1.83 [[ 9.96901857e-01 -7.86553131e-02 1.69103102e-04 -4.57016853e+00] [ 7.86537562e-02 9.96891812e-01 4.50573926e-03 2.28121781e+00] [-5.22977830e-04 -4.47847924e-03 9.99989835e-01 1.83366669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374839173 meters Centerline goodness : 0.736440 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.28, Z:1.83 [[ 9.97087741e-01 -7.62555372e-02 -1.06311347e-03 -4.56442019e+00] [ 7.62610410e-02 9.97064501e-01 6.82895684e-03 2.27816117e+00] [ 5.39246932e-04 -6.89014329e-03 9.99976117e-01 1.82955473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40483917299999 meters Centerline goodness : 0.736172 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.27, Z:1.83 [[ 9.97155991e-01 -7.53500035e-02 -1.51901890e-03 -4.56180960e+00] [ 7.53600817e-02 9.97121704e-01 8.31660458e-03 2.27398296e+00] [ 8.87990531e-04 -8.40742547e-03 9.99964263e-01 1.82723185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43483917299999 meters Centerline goodness : 0.737022 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.27, Z:1.83 [[ 9.96836445e-01 -7.94740089e-02 -9.92156425e-04 -4.56302227e+00] [ 7.94779603e-02 9.96824414e-01 4.93377633e-03 2.26648081e+00] [ 5.96898762e-04 -4.99702263e-03 9.99987337e-01 1.82901990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464839172999994 meters Centerline goodness : 0.740420 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.26, Z:1.83 [[ 9.96510013e-01 -8.34719496e-02 -4.76879216e-04 -4.56612509e+00] [ 8.34726598e-02 9.96508548e-01 1.74034816e-03 2.26192484e+00] [ 3.29943961e-04 -1.77408075e-03 9.99998372e-01 1.83253424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494839172999995 meters Centerline goodness : 0.740737 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.25, Z:1.84 [[ 9.96074281e-01 -8.85213237e-02 4.62114441e-05 -4.56995492e+00] [ 8.85213320e-02 9.96073951e-01 -8.10842100e-04 2.25241218e+00] [ 2.57468002e-05 8.11749660e-04 9.99999670e-01 1.83661624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524839173 meters Centerline goodness : 0.742239 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.25, Z:1.84 [[ 9.96149821e-01 -8.76647762e-02 -6.49462794e-04 -4.56790905e+00] [ 8.76649643e-02 9.96149980e-01 2.66882511e-04 2.25071487e+00] [ 6.23566154e-04 -3.22790098e-04 9.99999753e-01 1.83579775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554839173 meters Centerline goodness : 0.739404 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.25, Z:1.83 [[ 9.96524123e-01 -8.32959287e-02 -1.20858771e-03 -4.56697704e+00] [ 8.33011876e-02 9.96510428e-01 5.27999738e-03 2.24828686e+00] [ 7.64567969e-04 -5.36232155e-03 9.99985330e-01 1.83479454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters Centerline goodness : 0.739228 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.25, Z:1.83 [[ 9.96841721e-01 -7.93713468e-02 -2.60242372e-03 -4.56097970e+00] [ 7.93893641e-02 9.96813450e-01 7.76363110e-03 2.24699905e+00] [ 1.97792111e-03 -7.94571615e-03 9.99966476e-01 1.83205999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61483917299999 meters Centerline goodness : 0.737521 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.24, Z:1.83 [[ 9.96586212e-01 -8.25170324e-02 -2.61941202e-03 -4.55947952e+00] [ 8.25297177e-02 9.96575173e-01 5.17404036e-03 2.24168776e+00] [ 2.18349453e-03 -5.37255662e-03 9.99983184e-01 1.83133002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644839172999994 meters Centerline goodness : 0.739438 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.24, Z:1.83 [[ 9.96274110e-01 -8.62072701e-02 -2.49076323e-03 -4.55873942e+00] [ 8.62124786e-02 9.96274632e-01 2.06527213e-03 2.23760126e+00] [ 2.30344275e-03 -2.27231203e-03 9.99994765e-01 1.83100986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674839172999995 meters Centerline goodness : 0.741705 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.23, Z:1.83 [[ 9.95259480e-01 -9.72274042e-02 -2.32359998e-03 -4.55686401e+00] [ 9.72037136e-02 9.95226054e-01 -8.74866959e-03 2.23107406e+00] [ 3.16311767e-03 8.48133380e-03 9.99959030e-01 1.83216660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704839172999996 meters Centerline goodness : 0.742885 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.23, Z:1.83 [[ 9.94894057e-01 -1.00896863e-01 -2.37452430e-03 -4.55541809e+00] [ 1.00864334e-01 9.94837061e-01 -1.12074742e-02 2.22677661e+00] [ 3.49306377e-03 1.09107447e-02 9.99934375e-01 1.83091536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734839173 meters Centerline goodness : 0.741793 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.23, Z:1.83 [[ 9.94756976e-01 -1.02237190e-01 -2.47302754e-03 -4.55605488e+00] [ 1.02207474e-01 9.94711925e-01 -1.00905687e-02 2.22568740e+00] [ 3.49158136e-03 9.78490171e-03 9.99946031e-01 1.82984437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76483917299999 meters Centerline goodness : 0.741705 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.83 [[ 9.95071572e-01 -9.91250404e-02 -2.60641514e-03 -4.55726415e+00] [ 9.91095153e-02 9.95061159e-01 -5.53114245e-03 2.22343865e+00] [ 3.14181719e-03 5.24556207e-03 9.99981306e-01 1.82971278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79483917299999 meters Centerline goodness : 0.741509 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.83 [[ 9.95380013e-01 -9.59743467e-02 -2.74841305e-03 -4.55818027e+00] [ 9.59691539e-02 9.95382373e-01 -1.96302014e-03 2.22092006e+00] [ 2.92412148e-03 1.69018814e-03 9.99994296e-01 1.83036432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824839172999994 meters Centerline goodness : 0.739805 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.95605382e-01 -9.35744995e-02 3.70628879e-03 -4.56539906e+00] [ 9.35978101e-02 9.95587446e-01 -6.71467123e-03 2.21347217e+00] [-3.06161259e-03 7.03206333e-03 9.99970588e-01 1.82681576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854839172999995 meters Centerline goodness : 0.745008 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.95280930e-01 -9.69561128e-02 3.92206858e-03 -4.56520816e+00] [ 9.69924039e-02 9.95230090e-01 -1.04661665e-02 2.21004419e+00] [-2.88860185e-03 1.07971868e-02 9.99937536e-01 1.82798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884839172999996 meters Centerline goodness : 0.745343 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.95630369e-01 -9.33097814e-02 3.66785306e-03 -4.56566553e+00] [ 9.33306612e-02 9.95617049e-01 -6.00664632e-03 2.20881474e+00] [-3.09129818e-03 6.32272264e-03 9.99975233e-01 1.82764647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914839173 meters Centerline goodness : 0.743554 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.95991842e-01 -8.93850686e-02 3.24970128e-03 -4.56535548e+00] [ 8.93906089e-02 9.95995359e-01 -1.60130708e-03 2.20926631e+00] [-3.09355445e-03 1.88538157e-03 9.99993438e-01 1.82677979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944839173 meters Centerline goodness : 0.740099 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.83 [[ 9.96479111e-01 -8.38081661e-02 2.36076015e-03 -4.56335235e+00] [ 8.38016433e-02 9.96478693e-01 2.73842958e-03 2.21142828e+00] [-2.58194995e-03 -2.53095230e-03 9.99993464e-01 1.82625676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97483917299999 meters Centerline goodness : 0.743050 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96667671e-01 -8.15415478e-02 2.12823501e-03 -4.56060284e+00] [ 8.15346843e-02 9.96665577e-01 3.13399864e-03 2.21387444e+00] [-2.37668968e-03 -2.95003015e-03 9.99992824e-01 1.82451398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00483917299999 meters Centerline goodness : 0.741288 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.82 [[ 9.96679911e-01 -8.13925002e-02 2.10139294e-03 -4.55996435e+00] [ 8.13859204e-02 9.96678006e-01 3.04698382e-03 2.21560580e+00] [-2.34241376e-03 -2.86584377e-03 9.99993150e-01 1.82360895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034839172999995 meters Centerline goodness : 0.741106 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.82 [[ 9.96625069e-01 -8.20484411e-02 2.55443240e-03 -4.56118033e+00] [ 8.20414539e-02 9.96625180e-01 2.72965598e-03 2.21625388e+00] [-2.76977567e-03 -2.51087423e-03 9.99993012e-01 1.82368364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064839172999996 meters Centerline goodness : 0.738045 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96476524e-01 -8.38352061e-02 2.48923350e-03 -4.56188408e+00] [ 8.38286622e-02 9.96476722e-01 2.62627792e-03 2.21499872e+00] [-2.70063779e-03 -2.40835518e-03 9.99993453e-01 1.82339551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094839173 meters Centerline goodness : 0.736280 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96425684e-01 -8.44353878e-02 2.55379783e-03 -4.56206737e+00] [ 8.44279660e-02 9.96425404e-01 2.88655608e-03 2.21437999e+00] [-2.78839651e-03 -2.66062666e-03 9.99992573e-01 1.82276690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124839173 meters Centerline goodness : 0.735341 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96086151e-01 -8.83473097e-02 2.67082667e-03 -4.56091738e+00] [ 8.83484871e-02 9.96089574e-01 -3.25857238e-04 2.21291939e+00] [-2.63159399e-03 5.60545377e-04 9.99996380e-01 1.82139337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15483917299999 meters Centerline goodness : 0.736086 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.95797151e-01 -9.15353963e-02 3.05052133e-03 -4.56062135e+00] [ 9.15486857e-02 9.95790225e-01 -4.54595322e-03 2.21215685e+00] [-2.62156369e-03 4.80611848e-03 9.99985014e-01 1.82215060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18483917299999 meters Centerline goodness : 0.735964 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96106084e-01 -8.81064480e-02 3.14998960e-03 -4.56187902e+00] [ 8.81089871e-02 9.96110611e-01 -6.76315868e-04 2.21132915e+00] [-3.07815028e-03 9.51224745e-04 9.99994810e-01 1.82230115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214839172999994 meters Centerline goodness : 0.738866 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96424164e-01 -8.44395565e-02 2.97426860e-03 -4.56238367e+00] [ 8.44311999e-02 9.96425288e-01 2.83150779e-03 2.21335421e+00] [-3.20272771e-03 -2.57026172e-03 9.99991568e-01 1.82230370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244839172999995 meters Centerline goodness : 0.734202 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.82 [[ 9.96785938e-01 -8.00703606e-02 2.55547319e-03 -4.56214023e+00] [ 8.00532871e-02 9.96771297e-01 6.20095250e-03 2.21566235e+00] [-3.04373483e-03 -5.97644823e-03 9.99977509e-01 1.82347182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274839173 meters Centerline goodness : 0.736909 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96574960e-01 -8.26595003e-02 2.39924960e-03 -4.56037361e+00] [ 8.26520655e-02 9.96573803e-01 3.04831462e-03 2.21194455e+00] [-2.64300146e-03 -2.83957109e-03 9.99992476e-01 1.82355480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304839173 meters Centerline goodness : 0.739557 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96604849e-01 -8.23003224e-02 2.33052561e-03 -4.55977584e+00] [ 8.22932029e-02 9.96603641e-01 3.00186670e-03 2.21259073e+00] [-2.56966490e-03 -2.79988849e-03 9.99992779e-01 1.82312955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33483917299999 meters Centerline goodness : 0.738737 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.96905922e-01 -7.85728135e-02 2.21262311e-03 -4.56003947e+00] [ 7.85560223e-02 9.96886090e-01 6.86110100e-03 2.21382364e+00] [-2.74482921e-03 -6.66605734e-03 9.99974014e-01 1.82257654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters Centerline goodness : 0.738986 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.82 [[ 9.97428342e-01 -7.16357565e-02 2.24089398e-03 -4.56302498e+00] [ 7.16000141e-02 9.97345339e-01 1.32556695e-02 2.21801490e+00] [-3.18452508e-03 -1.30611324e-02 9.99909629e-01 1.82493621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394839172999994 meters Centerline goodness : 0.740544 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.83 [[ 9.97440185e-01 -7.14732832e-02 2.15583206e-03 -4.56340061e+00] [ 7.14399451e-02 9.97362247e-01 1.28406592e-02 2.21836175e+00] [-3.06790958e-03 -1.26537770e-02 9.99915231e-01 1.82620531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424839172999995 meters Centerline goodness : 0.743952 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.83 [[ 9.97319946e-01 -7.31155548e-02 2.65346436e-03 -4.56405937e+00] [ 7.30847901e-02 9.97272888e-01 1.02664284e-02 2.21495455e+00] [-3.39686368e-03 -1.00449859e-02 9.99943778e-01 1.82796642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454839172999996 meters Centerline goodness : 0.746686 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.97286949e-01 -7.35537792e-02 2.92960205e-03 -4.56528337e+00] [ 7.35187149e-02 9.97236704e-01 1.06749785e-02 2.21182127e+00] [-3.70669170e-03 -1.04306361e-02 9.99938729e-01 1.82865585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484839173 meters Centerline goodness : 0.748665 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.97251416e-01 -7.40198277e-02 3.26769680e-03 -4.56639734e+00] [ 7.39794218e-02 9.97197804e-01 1.11168666e-02 2.20928922e+00] [-4.08140863e-03 -1.08445687e-02 9.99932866e-01 1.82890510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51483917299999 meters Centerline goodness : 0.752261 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.21, Z:1.83 [[ 9.97236549e-01 -7.42082452e-02 3.52157533e-03 -4.56654946e+00] [ 7.41635627e-02 9.97180181e-01 1.14653158e-02 2.21018288e+00] [-4.36246608e-03 -1.11724594e-02 9.99928070e-01 1.82775456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters Centerline goodness : 0.749719 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.83 [[ 9.97296685e-01 -7.34123739e-02 3.15374816e-03 -4.56479487e+00] [ 7.33686379e-02 9.97229461e-01 1.22656235e-02 2.21060947e+00] [-4.04545912e-03 -1.20010794e-02 9.99919801e-01 1.82619251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574839172999994 meters Centerline goodness : 0.750944 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.97259892e-01 -7.39029597e-02 3.32559230e-03 -4.56210557e+00] [ 7.38641841e-02 9.97212293e-01 1.05700184e-02 2.20959009e+00] [-4.09747716e-03 -1.02954133e-02 9.99938606e-01 1.82419812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604839172999995 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.97419310e-01 -7.17468141e-02 2.66743155e-03 -4.55760716e+00] [ 7.17122359e-02 9.97360736e-01 1.13541743e-02 2.20784126e+00] [-3.47501733e-03 -1.11335852e-02 9.99931981e-01 1.82142833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634839172999996 meters Centerline goodness : 0.747616 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.97493654e-01 -7.07314570e-02 1.86323166e-03 -4.55432754e+00] [ 7.07044894e-02 9.97426475e-01 1.18870599e-02 2.20862777e+00] [-2.69922565e-03 -1.17255279e-02 9.99927610e-01 1.81927813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664839173 meters Centerline goodness : 0.746950 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.97601746e-01 -6.92040955e-02 1.24447514e-03 -4.55057534e+00] [ 6.91831537e-02 9.97525244e-01 1.25331471e-02 2.21266785e+00] [-2.10874048e-03 -1.24169927e-02 9.99920683e-01 1.81584513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694839173 meters Centerline goodness : 0.747714 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.82 [[ 9.97425313e-01 -7.17032995e-02 1.17551480e-03 -4.54870420e+00] [ 7.16903496e-02 9.97388579e-01 8.74733925e-03 2.21583193e+00] [-1.79965813e-03 -8.64054453e-03 9.99961050e-01 1.81513229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72483917299999 meters Centerline goodness : 0.749045 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.97252155e-01 -7.40510359e-02 2.14108136e-03 -4.55308267e+00] [ 7.40335678e-02 9.97228818e-01 7.32903706e-03 2.21419385e+00] [-2.67787082e-03 -7.15038611e-03 9.99970850e-01 1.81818533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75483917299999 meters Centerline goodness : 0.749045 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.97252155e-01 -7.40510359e-02 2.14108136e-03 -4.55308267e+00] [ 7.40335678e-02 9.97228818e-01 7.32903706e-03 2.21419385e+00] [-2.67787082e-03 -7.15038611e-03 9.99970850e-01 1.81818533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784839172999995 meters Centerline goodness : 0.751498 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.82 [[ 9.97192596e-01 -7.48304690e-02 2.70706377e-03 -4.55521893e+00] [ 7.48093947e-02 9.97171919e-01 7.19151290e-03 2.21333353e+00] [-3.23755226e-03 -6.96880961e-03 9.99970477e-01 1.81925844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814839172999996 meters Centerline goodness : 0.751767 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.82 [[ 9.96949894e-01 -7.80016872e-02 2.57805373e-03 -4.55375460e+00] [ 7.79930206e-02 9.96948421e-01 3.30686002e-03 2.21723572e+00] [-2.82812725e-03 -3.09570355e-03 9.99991209e-01 1.81857663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844839173 meters Centerline goodness : 0.752233 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.82 [[ 9.96952459e-01 -7.79710122e-02 2.51292108e-03 -4.55316516e+00] [ 7.79615540e-02 9.96949631e-01 3.66461319e-03 2.21686116e+00] [-2.79098934e-03 -3.45753390e-03 9.99990128e-01 1.81764016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874839173 meters Centerline goodness : 0.751631 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.96953147e-01 -7.79644069e-02 2.44430913e-03 -4.55247367e+00] [ 7.79527721e-02 9.96946714e-01 4.54029287e-03 2.21402313e+00] [-2.79082720e-03 -4.33591859e-03 9.99986705e-01 1.81640651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90483917299999 meters Centerline goodness : 0.751630 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.82 [[ 9.96690100e-01 -8.12662232e-02 2.15557782e-03 -4.55064483e+00] [ 8.12645673e-02 9.96692207e-01 8.45131166e-04 2.21452203e+00] [-2.21712823e-03 -6.67161768e-04 9.99997320e-01 1.81592527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93483917299999 meters Centerline goodness : 0.749529 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.81 [[ 9.96721261e-01 -8.08922380e-02 1.78159633e-03 -4.54866246e+00] [ 8.08902323e-02 9.96722328e-01 1.17058239e-03 2.21692290e+00] [-1.87044787e-03 -1.02263062e-03 9.99997728e-01 1.81387586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964839172999994 meters Centerline goodness : 0.748883 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.81 [[ 9.96756774e-01 -8.04625302e-02 1.30933928e-03 -4.54689890e+00] [ 8.04600558e-02 9.96756128e-01 1.84400233e-03 2.21644944e+00] [-1.45346504e-03 -1.73267230e-03 9.99997443e-01 1.81249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994839172999995 meters Centerline goodness : 0.749015 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.81 [[ 9.96754759e-01 -8.04835775e-02 1.53091695e-03 -4.54662494e+00] [ 8.04812011e-02 9.96754913e-01 1.55533171e-03 2.21683631e+00] [-1.65112766e-03 -1.42707425e-03 9.99997619e-01 1.81163293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024839173 meters Centerline goodness : 0.750699 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.81 [[ 9.96743972e-01 -8.06137620e-02 1.69571555e-03 -4.54690646e+00] [ 8.06115174e-02 9.96744678e-01 1.35294811e-03 2.21754009e+00] [-1.79926169e-03 -1.21184867e-03 9.99997647e-01 1.81151391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054839173 meters Centerline goodness : 0.747997 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.80 [[ 9.96708267e-01 -7.95779557e-02 1.54912624e-02 -4.54647853e+00] [ 7.95142957e-02 9.96822722e-01 4.68383291e-03 2.21772457e+00] [-1.58147721e-02 -3.43663817e-03 9.99869033e-01 1.80309541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08483917299999 meters Centerline goodness : 0.750910 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.22, Z:1.80 [[ 0.99699449 -0.07591632 0.01544992 -4.54678261] [ 0.07578633 0.99708496 0.00883291 2.21767075] [-0.01607545 -0.00763547 0.99984163 1.80228216] [ 0. 0. 0. 1. ]] SLAMing on 45.11483917299999 meters Centerline goodness : 0.739861 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.80 [[ 0.99737328 -0.07108825 0.01389274 -4.53850945] [ 0.0709315 0.99741526 0.01146785 2.21886557] [-0.01467206 -0.01045229 0.99983773 1.79698867] [ 0. 0. 0. 1. ]] SLAMing on 45.144839172999994 meters Centerline goodness : 0.742841 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.79 [[ 0.99747591 -0.06973777 0.01335879 -4.53512998] [ 0.0695834 0.99750762 0.0116918 2.22024568] [-0.01414085 -0.01073274 0.99984241 1.79435079] [ 0. 0. 0. 1. ]] SLAMing on 45.174839172999995 meters Centerline goodness : 0.732968 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.22, Z:1.79 [[ 0.99754212 -0.06887234 0.01289646 -4.53182491] [ 0.06872243 0.99756688 0.01172783 2.223502 ] [-0.0136728 -0.01081273 0.99984806 1.7914693 ] [ 0. 0. 0. 1. ]] SLAMing on 45.204839172999996 meters Centerline goodness : 0.732614 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.22, Z:1.79 [[ 0.99749478 -0.06944898 0.01345401 -4.53328292] [ 0.06929727 0.99753055 0.01143211 2.22397602] [-0.01421474 -0.01047115 0.99984414 1.79158018] [ 0. 0. 0. 1. ]] SLAMing on 45.234839173 meters Centerline goodness : 0.738874 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.9973164 -0.07171121 0.01474796 -4.53883998] [ 0.07158412 0.99739421 0.00897252 2.22828012] [-0.01535296 -0.00789272 0.99985098 1.79588064] [ 0. 0. 0. 1. ]] SLAMing on 45.26483917299999 meters Centerline goodness : 0.742962 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.99726692 -0.07233374 0.01505048 -4.54079113] [ 0.07222003 0.9973569 0.00796719 2.23003457] [-0.015587 -0.00685847 0.99985499 1.7980436 ] [ 0. 0. 0. 1. ]] SLAMing on 45.29483917299999 meters Centerline goodness : 0.744598 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.23, Z:1.80 [[ 0.99741448 -0.07017298 0.01549538 -4.54527398] [ 0.07001817 0.99749235 0.01031789 2.23395513] [-0.01618056 -0.00920625 0.9998267 1.80177797] [ 0. 0. 0. 1. ]] SLAMing on 45.324839172999994 meters Centerline goodness : 0.746465 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.23, Z:1.80 [[ 0.99739608 -0.07041737 0.0155709 -4.54609744] [ 0.07026375 0.99747627 0.01020236 2.23426716] [-0.01625003 -0.00908173 0.99982671 1.8026362 ] [ 0. 0. 0. 1. ]] SLAMing on 45.354839172999995 meters Centerline goodness : 0.747731 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.23, Z:1.80 [[ 0.9974017 -0.0703532 0.01550108 -4.54578803] [ 0.07018746 0.99747329 0.01098931 2.23048524] [-0.01623505 -0.00987277 0.99981946 1.80225353] [ 0. 0. 0. 1. ]] SLAMing on 45.384839172999996 meters Centerline goodness : 0.746516 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.99745036 -0.06974098 0.01513183 -4.54433679] [ 0.06957232 0.99751176 0.01140053 2.22989687] [-0.01588926 -0.01031871 0.99982051 1.80146106] [ 0. 0. 0. 1. ]] SLAMing on 45.414839173 meters Centerline goodness : 0.741268 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.99756177 -0.068315 0.01426827 -4.54045439] [ 0.06814819 0.99760462 0.0118679 2.2317175 ] [-0.01504485 -0.01086661 0.99982777 1.79899139] [ 0. 0. 0. 1. ]] SLAMing on 45.444839173 meters Centerline goodness : 0.740842 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.99755737 -0.06838279 0.01425097 -4.53980689] [ 0.06821509 0.99759919 0.01193954 2.23241461] [-0.01503322 -0.01093824 0.99982716 1.79785338] [ 0. 0. 0. 1. ]] SLAMing on 45.47483917299999 meters Centerline goodness : 0.740934 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 0.99714558 -0.07404918 0.01474483 -4.5414257 ] [ 0.07393908 0.99723164 0.00787809 2.22928658] [-0.01528738 -0.00676538 0.99986025 1.7983945 ] [ 0. 0. 0. 1. ]] SLAMing on 45.50483917299999 meters Centerline goodness : 0.741193 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.23, Z:1.80 [[ 9.96820956e-01 -7.82488426e-02 1.50033518e-02 -4.54109565e+00] [ 7.81831010e-02 9.96926875e-01 4.92027412e-03 2.22609503e+00] [-1.53422504e-02 -3.73162378e-03 9.99875337e-01 1.79728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534839172999995 meters Centerline goodness : 0.739684 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.80 [[ 9.96434540e-01 -8.30516103e-02 1.48538567e-02 -4.54032700e+00] [ 8.30149305e-02 9.96543574e-01 3.07020789e-03 2.21983818e+00] [-1.50575011e-02 -1.82616931e-03 9.99884962e-01 1.79518136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564839172999996 meters Centerline goodness : 0.738315 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.79 [[ 9.96489074e-01 -8.24349188e-02 1.46290545e-02 -4.53880852e+00] [ 8.23762760e-02 9.96590830e-01 4.56797950e-03 2.21600575e+00] [-1.49557426e-02 -3.34685463e-03 9.99882555e-01 1.79332134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594839173 meters Centerline goodness : 0.742460 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.79 [[ 0.99679467 -0.07866288 0.014579 -4.54021947] [ 0.07855095 0.99687721 0.00809824 2.21784924] [-0.0151705 -0.00692709 0.99986093 1.79468672] [ 0. 0. 0. 1. ]] SLAMing on 45.624839173 meters Centerline goodness : 0.742221 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.79 [[ 0.99683379 -0.07824168 0.01416469 -4.53922677] [ 0.07813282 0.99691019 0.00808241 2.2205092 ] [-0.01475331 -0.00695009 0.99986701 1.79446638] [ 0. 0. 0. 1. ]] SLAMing on 45.65483917299999 meters Centerline goodness : 0.746359 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.80 [[ 9.96965801e-01 -7.75490459e-02 6.73328968e-03 -4.54197660e+00] [ 7.75789257e-02 9.96976960e-01 -4.29562887e-03 2.22185176e+00] [-6.37981276e-03 4.80495646e-03 9.99968105e-01 1.79653564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68483917299999 meters Centerline goodness : 0.741034 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.22, Z:1.79 [[ 9.96629105e-01 -7.97888636e-02 1.90830948e-02 -4.53919289e+00] [ 7.97955848e-02 9.96811164e-01 4.10192069e-04 2.21547403e+00] [-1.90549707e-02 1.11393735e-03 9.99817817e-01 1.78562058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714839172999994 meters Centerline goodness : 0.744485 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.21, Z:1.79 [[ 0.99598681 -0.08720195 0.02015165 -4.54331933] [ 0.08732772 0.99616475 -0.00544634 2.21084833] [-0.01959943 0.00718428 0.9997821 1.78925241] [ 0. 0. 0. 1. ]] SLAMing on 45.744839172999995 meters Centerline goodness : 0.745066 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.21, Z:1.79 [[ 0.99591243 -0.08799187 0.02039249 -4.54559471] [ 0.08811438 0.99609686 -0.00518734 2.20731143] [-0.01985645 0.00696301 0.99977859 1.79153403] [ 0. 0. 0. 1. ]] SLAMing on 45.774839173 meters Centerline goodness : 0.745770 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.20, Z:1.79 [[ 9.96037471e-01 -8.67320143e-02 1.96701149e-02 -4.54346626e+00] [ 8.68063379e-02 9.96220823e-01 -2.95507193e-03 2.20056456e+00] [-1.93394788e-02 4.65085302e-03 9.99802157e-01 1.79060861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804839173 meters Centerline goodness : 0.747498 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.20, Z:1.79 [[ 9.96394139e-01 -8.26115792e-02 1.93402875e-02 -4.54328648e+00] [ 8.25817102e-02 9.96581551e-01 2.33935385e-03 2.19544430e+00] [-1.94674314e-02 -7.33764451e-04 9.99810222e-01 1.78999826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83483917299999 meters Centerline goodness : 0.750993 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.19, Z:1.79 [[ 0.99678097 -0.07794566 0.01876651 -4.54306169] [ 0.07781433 0.99693867 0.00763047 2.19100993] [-0.01930382 -0.00614561 0.99979478 1.79052845] [ 0. 0. 0. 1. ]] SLAMing on 45.86483917299999 meters Centerline goodness : 0.753919 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.19, Z:1.79 [[ 0.99689389 -0.07663549 0.01815401 -4.54137354] [ 0.07647388 0.99702693 0.00943614 2.18624521] [-0.01882318 -0.00801852 0.99979067 1.79003556] [ 0. 0. 0. 1. ]] SLAMing on 45.894839172999994 meters Centerline goodness : 0.752269 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.18, Z:1.79 [[ 0.99672674 -0.07891006 0.01757877 -4.53807094] [ 0.07879372 0.99686482 0.00721669 2.18239324] [-0.01809313 -0.00580797 0.99981944 1.78827431] [ 0. 0. 0. 1. ]] SLAMing on 45.924839172999995 meters Centerline goodness : 0.753368 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.18, Z:1.79 [[ 9.96537778e-01 -8.13719537e-02 1.70605490e-02 -4.53486015e+00] [ 8.12931500e-02 9.96676334e-01 5.26392242e-03 2.17729918e+00] [-1.74321811e-02 -3.85879178e-03 9.99840602e-01 1.78620034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954839172999996 meters Centerline goodness : 0.754431 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.96270197e-01 -8.46670193e-02 1.66490168e-02 -4.53229337e+00] [ 8.46125869e-02 9.96406102e-01 3.94834604e-03 2.17075226e+00] [-1.69234766e-02 -2.52490311e-03 9.99853600e-01 1.78366232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984839173 meters Centerline goodness : 0.753974 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.96260351e-01 -8.47752519e-02 1.66873950e-02 -4.53276008e+00] [ 8.47139493e-02 9.96395825e-01 4.34808631e-03 2.17025230e+00] [-1.69958609e-02 -2.91817085e-03 9.99851301e-01 1.78398100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01483917299999 meters Centerline goodness : 0.755557 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.17, Z:1.79 [[ 9.96196567e-01 -8.54918452e-02 1.68387527e-02 -4.53550686e+00] [ 8.54434154e-02 9.96336607e-01 3.57614696e-03 2.17290680e+00] [-1.70827972e-02 -2.12378478e-03 9.99851823e-01 1.78743457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04483917299999 meters Centerline goodness : 0.756694 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.79 [[ 9.96209993e-01 -8.54270151e-02 1.63669017e-02 -4.53382285e+00] [ 8.53594556e-02 9.96338735e-01 4.78413906e-03 2.16972156e+00] [-1.67156728e-02 -3.36893732e-03 9.99854608e-01 1.78577968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074839172999994 meters Centerline goodness : 0.755959 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.96232527e-01 -8.52145597e-02 1.61006222e-02 -4.53209768e+00] [ 8.51389386e-02 9.96354851e-01 5.32649618e-03 2.16928365e+00] [-1.64958281e-02 -3.93563887e-03 9.99856189e-01 1.78379975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104839172999995 meters Centerline goodness : 0.754670 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.96226868e-01 -8.52974784e-02 1.60114822e-02 -4.53084988e+00] [ 8.52126404e-02 9.96345264e-01 5.90931017e-03 2.16774971e+00] [-1.64570137e-02 -4.52263289e-03 9.99854346e-01 1.78178401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134839172999996 meters Centerline goodness : 0.754878 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.95839482e-01 -8.95646612e-02 1.67897788e-02 -4.53159272e+00] [ 8.95590132e-02 9.95980922e-01 1.08949955e-03 2.17050628e+00] [-1.68198800e-02 4.18709358e-04 9.99858448e-01 1.78195677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164839173 meters Centerline goodness : 0.756536 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.17, Z:1.78 [[ 9.95996340e-01 -8.77576783e-02 1.70258717e-02 -4.53449202e+00] [ 8.77035630e-02 9.96138980e-01 3.90090708e-03 2.17154664e+00] [-1.73024690e-02 -2.39205956e-03 9.99847440e-01 1.78346030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194839173 meters Centerline goodness : 0.754991 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.18, Z:1.79 [[ 9.96159116e-01 -8.58230429e-02 1.73614905e-02 -4.53732898e+00] [ 8.57354232e-02 9.96301457e-01 5.73103268e-03 2.17674712e+00] [-1.77891329e-02 -4.22052572e-03 9.99832853e-01 1.78503112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22483917299999 meters Centerline goodness : 0.752293 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.18, Z:1.79 [[ 0.99634934 -0.08355955 0.01748702 -4.53922254] [ 0.08342412 0.99647926 0.00833716 2.17937654] [-0.0181221 -0.00684789 0.99981233 1.78578245] [ 0. 0. 0. 1. ]] SLAMing on 46.25483917299999 meters Centerline goodness : 0.750419 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.18, Z:1.79 [[ 0.99630814 -0.08404724 0.01749698 -4.54006591] [ 0.0839344 0.99644608 0.00708747 2.18258142] [-0.01803048 -0.00559271 0.9998218 1.78723168] [ 0. 0. 0. 1. ]] SLAMing on 46.284839172999995 meters Centerline goodness : 0.754471 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.19, Z:1.79 [[ 0.99604322 -0.08232886 0.03346437 -4.55013245] [ 0.08202183 0.99657576 0.01044872 2.18648694] [-0.03421001 -0.00766256 0.99938529 1.78652742] [ 0. 0. 0. 1. ]] SLAMing on 46.314839172999996 meters Centerline goodness : 0.752830 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.19, Z:1.79 [[ 0.9959882 -0.08294196 0.03358764 -4.55140287] [ 0.08266921 0.99653241 0.00943187 2.18935284] [-0.03425347 -0.00661737 0.99939127 1.78803229] [ 0. 0. 0. 1. ]] SLAMing on 46.344839173 meters Centerline goodness : 0.751723 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.20, Z:1.79 [[ 0.99596099 -0.0833057 0.0334944 -4.55148377] [ 0.08308507 0.99651092 0.00792815 2.1953807 ] [-0.03403799 -0.00511324 0.99940746 1.78853106] [ 0. 0. 0. 1. ]] SLAMing on 46.374839173 meters Centerline goodness : 0.748346 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.21, Z:1.79 [[ 0.99636279 -0.07831679 0.03358093 -4.55536177] [ 0.07798357 0.9968926 0.01112236 2.21102529] [-0.03434765 -0.00846314 0.99937411 1.79185253] [ 0. 0. 0. 1. ]] SLAMing on 46.40483917299999 meters Centerline goodness : 0.748196 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.22, Z:1.80 [[ 0.99640027 -0.07732822 0.03473981 -4.56123213] [ 0.07702844 0.99697986 0.00988828 2.22318034] [-0.03539953 -0.00717673 0.99934747 1.79702028] [ 0. 0. 0. 1. ]] SLAMing on 46.43483917299999 meters Centerline goodness : 0.750058 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.23, Z:1.80 [[ 0.99634518 -0.07792603 0.03498319 -4.56199999] [ 0.07766554 0.9969411 0.00874656 2.22603312] [-0.03555776 -0.0059976 0.99934963 1.79751745] [ 0. 0. 0. 1. ]] SLAMing on 46.464839172999994 meters Centerline goodness : 0.747235 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.23, Z:1.79 [[ 9.96343348e-01 -7.79838068e-02 3.49064384e-02 -4.55912918e+00] [ 7.77836696e-02 9.96945282e-01 7.05733490e-03 2.23368114e+00] [-3.53501669e-02 -4.31637780e-03 9.99365666e-01 1.79392286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494839172999995 meters Centerline goodness : 0.745531 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.24, Z:1.79 [[ 0.99656988 -0.0751052 0.03475165 -4.55763845] [ 0.07480729 0.99714989 0.00979668 2.23842576] [-0.03538838 -0.0071634 0.99934796 1.79098782] [ 0. 0. 0. 1. ]] SLAMing on 46.524839173 meters Centerline goodness : 0.743039 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.25, Z:1.79 [[ 0.99678031 -0.07227123 0.03472581 -4.5567884 ] [ 0.07188891 0.9973388 0.0121366 2.24502008] [-0.03551053 -0.00960113 0.99932318 1.78867741] [ 0. 0. 0. 1. ]] SLAMing on 46.554839173 meters Centerline goodness : 0.739451 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.25, Z:1.78 [[ 0.99717758 -0.06736267 0.0331533 -4.54911029] [ 0.06692453 0.99765765 0.01415374 2.25478023] [-0.03402908 -0.01189502 0.99935005 1.78257541] [ 0. 0. 0. 1. ]] SLAMing on 46.58483917299999 meters Centerline goodness : 0.740060 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.26, Z:1.78 [[ 0.99752336 -0.06216891 0.03289631 -4.54744001] [ 0.06163651 0.99795457 0.01695906 2.26386995] [-0.03388335 -0.01488945 0.99931488 1.78132474] [ 0. 0. 0. 1. ]] SLAMing on 46.61483917299999 meters Centerline goodness : 0.738450 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.28, Z:1.78 [[ 0.99823632 -0.04897928 0.03354505 -4.55019809] [ 0.04804836 0.99845199 0.02801744 2.28253821] [-0.0348654 -0.02635624 0.99904442 1.78046314] [ 0. 0. 0. 1. ]] SLAMing on 46.644839172999994 meters Centerline goodness : 0.739041 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.30, Z:1.78 [[ 0.99808175 -0.0513366 0.03460307 -4.55403023] [ 0.05057258 0.99846453 0.02260514 2.29657107] [-0.03571041 -0.02081181 0.99914545 1.78446459] [ 0. 0. 0. 1. ]] SLAMing on 46.674839172999995 meters Centerline goodness : 0.739041 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.30, Z:1.78 [[ 0.99808175 -0.0513366 0.03460307 -4.55403023] [ 0.05057258 0.99846453 0.02260514 2.29657107] [-0.03571041 -0.02081181 0.99914545 1.78446459] [ 0. 0. 0. 1. ]] SLAMing on 46.704839172999996 meters Centerline goodness : 0.739545 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.30, Z:1.79 [[ 0.99782621 -0.05584102 0.03499466 -4.55456708] [ 0.05527322 0.99832673 0.01698866 2.30141067] [-0.03588477 -0.01501746 0.99924309 1.78508378] [ 0. 0. 0. 1. ]] SLAMing on 46.734839173 meters Centerline goodness : 0.735251 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.78 [[ 0.9974169 -0.06212127 0.03606221 -4.55693539] [ 0.06171448 0.99801821 0.0122868 2.30607261] [-0.03675401 -0.0100295 0.99927401 1.78300647] [ 0. 0. 0. 1. ]] SLAMing on 46.76483917299999 meters Centerline goodness : 0.735703 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.78 [[ 0.99735838 -0.06294744 0.03624747 -4.55788971] [ 0.0625673 0.99797415 0.01152911 2.30974552] [-0.03689977 -0.00923075 0.99927634 1.78308377] [ 0. 0. 0. 1. ]] SLAMing on 46.79483917299999 meters Centerline goodness : 0.735708 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.32, Z:1.78 [[ 0.99732643 -0.06346272 0.03622805 -4.55782413] [ 0.06312181 0.99795082 0.01047871 2.31556431] [-0.03681882 -0.00816392 0.99928861 1.78270475] [ 0. 0. 0. 1. ]] SLAMing on 46.824839172999994 meters Centerline goodness : 0.734789 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.78 [[ 0.99728779 -0.06390746 0.03650886 -4.55843538] [ 0.06354555 0.99791843 0.01098995 2.31357544] [-0.0371352 -0.00864017 0.9992729 1.78186616] [ 0. 0. 0. 1. ]] SLAMing on 46.854839172999995 meters Centerline goodness : 0.736038 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.79 [[ 0.99694697 -0.06830875 0.0378239 -4.56498014] [ 0.06806782 0.99765157 0.007623 2.31020283] [-0.03825579 -0.00502513 0.99925534 1.78712731] [ 0. 0. 0. 1. ]] SLAMing on 46.884839172999996 meters Centerline goodness : 0.736704 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.31, Z:1.79 [[ 0.99689049 -0.06893496 0.03817501 -4.566785 ] [ 0.06868318 0.99760748 0.0078697 2.30739025] [-0.03862617 -0.00522325 0.99924008 1.78825511] [ 0. 0. 0. 1. ]] SLAMing on 46.914839173 meters Centerline goodness : 0.735360 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.79 [[ 0.99695422 -0.06836537 0.03752935 -4.56480908] [ 0.0680753 0.99764 0.00895477 2.30359982] [-0.03805297 -0.00637267 0.9992554 1.78731471] [ 0. 0. 0. 1. ]] SLAMing on 46.944839173 meters Centerline goodness : 0.735940 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.79 [[ 0.99728251 -0.0638102 0.03682189 -4.56248513] [ 0.0633345 0.99789492 0.01394513 2.30178581] [-0.03763422 -0.01157514 0.99922454 1.78509791] [ 0. 0. 0. 1. ]] SLAMing on 46.97483917299999 meters Centerline goodness : 0.736489 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.78 [[ 0.99739732 -0.06252237 0.03591007 -4.5587438 ] [ 0.06204477 0.99797142 0.01426495 2.30276295] [-0.0367291 -0.01199979 0.99925321 1.78328824] [ 0. 0. 0. 1. ]] SLAMing on 47.00483917299999 meters Centerline goodness : 0.733647 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.78 [[ 0.99744115 -0.06201837 0.03556514 -4.55637391] [ 0.06152395 0.99799539 0.01483246 2.30334621] [-0.03641373 -0.0126064 0.99925728 1.78066977] [ 0. 0. 0. 1. ]] SLAMing on 47.034839172999995 meters Centerline goodness : 0.731196 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.78 [[ 0.99745425 -0.06180763 0.03556447 -4.55553678] [ 0.0612965 0.99800251 0.01528796 2.30249032] [-0.03643834 -0.01306906 0.99925044 1.77929993] [ 0. 0. 0. 1. ]] SLAMing on 47.064839172999996 meters Centerline goodness : 0.729657 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.78 [[ 0.99720008 -0.0656231 0.03585546 -4.55567491] [ 0.06523592 0.99779933 0.0118649 2.2997342 ] [-0.03655516 -0.00949261 0.99928655 1.77940813] [ 0. 0. 0. 1. ]] SLAMing on 47.094839173 meters Centerline goodness : 0.727531 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.30, Z:1.78 [[ 0.99694798 -0.06931244 0.03592366 -4.55590259] [ 0.06905356 0.99757759 0.00839932 2.29562746] [-0.03641881 -0.00589303 0.99931924 1.7808238 ] [ 0. 0. 0. 1. ]] SLAMing on 47.124839173 meters Centerline goodness : 0.725801 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.29, Z:1.78 [[ 0.99693028 -0.06947549 0.03609953 -4.55646134] [ 0.06919743 0.99756331 0.00889734 2.29308296] [-0.03662972 -0.00637203 0.99930859 1.78087632] [ 0. 0. 0. 1. ]] SLAMing on 47.15483917299999 meters Centerline goodness : 0.725554 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.29, Z:1.78 [[ 0.9969608 -0.06915564 0.03587018 -4.55561527] [ 0.06886307 0.99758249 0.00933011 2.29167942] [-0.0364287 -0.00683162 0.9993129 1.78043905] [ 0. 0. 0. 1. ]] SLAMing on 47.18483917299999 meters Centerline goodness : 0.723169 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.78 [[ 0.99737147 -0.0635756 0.03476059 -4.55163477] [ 0.063101 0.99790056 0.0145854 2.28966931] [-0.03561489 -0.01235363 0.99928923 1.77794372] [ 0. 0. 0. 1. ]] SLAMing on 47.214839172999994 meters Centerline goodness : 0.723763 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.78 [[ 0.9981323 -0.05011702 0.03493117 -4.55151264] [ 0.04981138 0.99871283 0.00956638 2.29135668] [-0.03536565 -0.00780855 0.99934393 1.77567017] [ 0. 0. 0. 1. ]] SLAMing on 47.244839172999995 meters Centerline goodness : 0.727370 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.78 [[ 0.99837942 -0.04529015 0.03445784 -4.55028528] [ 0.04483406 0.99889779 0.01389615 2.28905758] [-0.03504922 -0.01232874 0.99930954 1.77578914] [ 0. 0. 0. 1. ]] SLAMing on 47.274839173 meters Centerline goodness : 0.730152 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.78 [[ 0.99869434 -0.03871276 0.03333064 -4.5466072 ] [ 0.03812576 0.99910954 0.01807067 2.28892034] [-0.03400053 -0.01677632 0.999281 1.7768196 ] [ 0. 0. 0. 1. ]] SLAMing on 47.304839173 meters Centerline goodness : 0.728456 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.78 [[ 0.9990875 -0.03736943 0.02068059 -4.54637936] [ 0.03716191 0.99925587 0.01032969 2.29309155] [-0.02105121 -0.00955173 0.99973277 1.78494685] [ 0. 0. 0. 1. ]] SLAMing on 47.33483917299999 meters Centerline goodness : 0.730288 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.78 [[ 0.99914529 -0.03633518 0.01970874 -4.54339897] [ 0.03613353 0.99929188 0.01049293 2.29436889] [-0.02007605 -0.00977182 0.9997507 1.78456919] [ 0. 0. 0. 1. ]] SLAMing on 47.36483917299999 meters Centerline goodness : 0.735654 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.30, Z:1.79 [[ 0.99915357 -0.03621263 0.01951364 -4.54382964] [ 0.03602176 0.99930051 0.01004604 2.29502607] [-0.01986378 -0.00933462 0.99975912 1.78669061] [ 0. 0. 0. 1. ]] SLAMing on 47.394839172999994 meters Centerline goodness : 0.741756 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.79 [[ 0.99913426 -0.03665708 0.01967216 -4.5455256 ] [ 0.03647655 0.99928975 0.00945858 2.29132479] [-0.02000491 -0.00873282 0.99976174 1.78943806] [ 0. 0. 0. 1. ]] SLAMing on 47.424839172999995 meters Centerline goodness : 0.741461 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.79 [[ 0.99912523 -0.03685161 0.01976709 -4.54582101] [ 0.03666438 0.99928005 0.00975214 2.28810172] [-0.02011224 -0.00901887 0.99975705 1.78950235] [ 0. 0. 0. 1. ]] SLAMing on 47.454839172999996 meters Centerline goodness : 0.738007 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.79 [[ 0.99903485 -0.03964189 0.01891782 -4.54267738] [ 0.03953263 0.99919957 0.00611504 2.28678208] [-0.01914509 -0.00536126 0.99980234 1.78923639] [ 0. 0. 0. 1. ]] SLAMing on 47.484839173 meters Centerline goodness : 0.734397 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.79 [[ 0.9990734 -0.03892635 0.01835985 -4.54039801] [ 0.03880898 0.99922414 0.00670624 2.28534411] [-0.01860665 -0.0059875 0.99980895 1.7879743 ] [ 0. 0. 0. 1. ]] SLAMing on 47.51483917299999 meters Centerline goodness : 0.728743 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.28, Z:1.79 [[ 0.99907732 -0.03882687 0.01835712 -4.5407109 ] [ 0.03871091 0.99922845 0.00663035 2.28372317] [-0.01860039 -0.00591362 0.99980951 1.78898596] [ 0. 0. 0. 1. ]] SLAMing on 47.54483917299999 meters Centerline goodness : 0.731494 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.28, Z:1.79 [[ 0.99903447 -0.03973787 0.01873602 -4.54308555] [ 0.03961902 0.99919258 0.00667308 2.28186588] [-0.01898606 -0.00592433 0.9998022 1.79048862] [ 0. 0. 0. 1. ]] SLAMing on 47.574839172999994 meters Centerline goodness : 0.731701 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.27, Z:1.80 [[ 9.98584701e-01 -4.76303600e-02 2.36631437e-02 -4.55634500e+00] [ 4.75302738e-02 9.98858387e-01 4.77452849e-03 2.27362149e+00] [-2.38635420e-02 -3.64305540e-03 9.99708587e-01 1.79610977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604839172999995 meters Centerline goodness : 0.733602 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.27, Z:1.80 [[ 9.98384199e-01 -5.16422754e-02 2.37079351e-02 -4.55691616e+00] [ 5.16187375e-02 9.98665576e-01 1.60413889e-03 2.27007770e+00] [-2.37591401e-02 -3.77773245e-04 9.99717640e-01 1.79702530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634839172999996 meters Centerline goodness : 0.732275 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.27, Z:1.79 [[ 0.99860673 -0.04751641 0.02295198 -4.5552454 ] [ 0.04735579 0.99884999 0.00749183 2.2658487 ] [-0.02328157 -0.00639449 0.9997085 1.79488764] [ 0. 0. 0. 1. ]] SLAMing on 47.664839173 meters Centerline goodness : 0.728988 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99883411 -0.04287436 0.02218592 -4.5524342 ] [ 0.04261122 0.99901723 0.01220083 2.26684962] [-0.02268722 -0.01124124 0.99967941 1.79236862] [ 0. 0. 0. 1. ]] SLAMing on 47.694839173 meters Centerline goodness : 0.728753 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99891274 -0.04147047 0.02129654 -4.54868343] [ 0.04120957 0.99907174 0.01254713 2.26804217] [-0.02179711 -0.01165587 0.99969447 1.79075533] [ 0. 0. 0. 1. ]] SLAMing on 47.72483917299999 meters Centerline goodness : 0.728028 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99889003 -0.04187963 0.02155931 -4.54983109] [ 0.04162109 0.9990577 0.01230418 2.26648695] [-0.02205429 -0.0113932 0.99969185 1.79165175] [ 0. 0. 0. 1. ]] SLAMing on 47.75483917299999 meters Centerline goodness : 0.726680 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99874561 -0.04529324 0.02134761 -4.5485434 ] [ 0.04513222 0.99894927 0.00796511 2.2666555 ] [-0.02168594 -0.00699165 0.99974038 1.79212773] [ 0. 0. 0. 1. ]] SLAMing on 47.784839172999995 meters Centerline goodness : 0.725380 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99875983 -0.04507502 0.02114357 -4.54770134] [ 0.04491339 0.99895839 0.00805805 2.266604 ] [-0.02148476 -0.00709842 0.99974398 1.79167744] [ 0. 0. 0. 1. ]] SLAMing on 47.814839172999996 meters Centerline goodness : 0.722542 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99878084 -0.04486604 0.02058799 -4.54599583] [ 0.0446979 0.99896391 0.00855588 2.26678595] [-0.02095053 -0.00762521 0.99975143 1.79056039] [ 0. 0. 0. 1. ]] SLAMing on 47.844839173 meters Centerline goodness : 0.719640 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99876027 -0.0454153 0.02038089 -4.54557224] [ 0.04525107 0.99893992 0.00844857 2.27037237] [-0.02074298 -0.00751584 0.99975659 1.7896933 ] [ 0. 0. 0. 1. ]] SLAMing on 47.874839173 meters Centerline goodness : 0.719371 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.27, Z:1.79 [[ 0.99876767 -0.04534096 0.02018263 -4.54494915] [ 0.04518225 0.99894468 0.00825197 2.27160351] [-0.02053549 -0.00732991 0.99976225 1.78957155] [ 0. 0. 0. 1. ]] SLAMing on 47.90483917299999 meters Centerline goodness : 0.721538 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.27, Z:1.79 [[ 0.99886633 -0.04295022 0.02052619 -4.54765493] [ 0.04274091 0.9990307 0.01052949 2.27429428] [-0.02095854 -0.00964025 0.99973387 1.79173896] [ 0. 0. 0. 1. ]] SLAMing on 47.93483917299999 meters Centerline goodness : 0.720431 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.28, Z:1.79 [[ 0.99888643 -0.04272545 0.02001066 -4.5463061 ] [ 0.04254312 0.99904993 0.00945051 2.2791142 ] [-0.02039542 -0.00858867 0.9997551 1.79209118] [ 0. 0. 0. 1. ]] SLAMing on 47.964839172999994 meters Centerline goodness : 0.717538 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.29, Z:1.79 [[ 0.99895611 -0.04104567 0.0200486 -4.54522795] [ 0.04084221 0.99911091 0.01045506 2.28540605] [-0.02045991 -0.00962532 0.99974434 1.79034677] [ 0. 0. 0. 1. ]] SLAMing on 47.994839172999995 meters Centerline goodness : 0.718531 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.79 [[ 0.99897153 -0.04075074 0.01988103 -4.54385999] [ 0.04055801 0.99912711 0.0100031 2.28733093] [-0.02027131 -0.00918648 0.99975231 1.78945556] [ 0. 0. 0. 1. ]] SLAMing on 48.024839173 meters Centerline goodness : 0.718909 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.79 [[ 0.99904366 -0.03928139 0.01920268 -4.5404971 ] [ 0.03911677 0.99919523 0.00887478 2.29208459] [-0.01953584 -0.00811514 0.99977622 1.7892954 ] [ 0. 0. 0. 1. ]] SLAMing on 48.054839173 meters Centerline goodness : 0.719754 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.30, Z:1.79 [[ 0.9990765 -0.03873237 0.0185998 -4.53891249] [ 0.03858998 0.99922347 0.00795431 2.29561661] [-0.01889345 -0.00722919 0.99979537 1.79008146] [ 0. 0. 0. 1. ]] SLAMing on 48.08483917299999 meters Centerline goodness : 0.720529 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.30, Z:1.79 [[ 0.99921196 -0.03511142 0.01851089 -4.53865379] [ 0.03490968 0.9993287 0.01111126 2.29950443] [-0.01888859 -0.01045629 0.99976692 1.7895969 ] [ 0. 0. 0. 1. ]] SLAMing on 48.11483917299999 meters Centerline goodness : 0.718216 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.30, Z:1.79 [[ 0.99923921 -0.03464571 0.01790758 -4.53658261] [ 0.03445072 0.99934492 0.01108524 2.30114929] [-0.0182799 -0.01045988 0.99977819 1.78879235] [ 0. 0. 0. 1. ]] SLAMing on 48.144839172999994 meters Centerline goodness : 0.723301 Centerline is valid? [False, False] Translation: X:-5.88, Y:2.11, Z:1.91 [[ 0.3530688 0.32933601 0.87571697 -5.87974657] [-0.86842429 0.46361982 0.17577233 2.11034726] [-0.34811159 -0.82255362 0.44969309 1.91010165] [ 0. 0. 0. 1. ]] SLAMing on 48.174839172999995 meters Centerline goodness : 0.715295 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.16, Z:2.14 [[ 0.80137643 0.57991228 -0.14662046 -4.25219768] [-0.5633257 0.64925587 -0.51100975 2.16270299] [-0.20114664 0.49210624 0.84697785 2.14240672] [ 0. 0. 0. 1. ]] SLAMing on 48.204839172999996 meters Centerline goodness : 0.715313 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.19, Z:2.14 [[ 0.80538711 0.57773534 -0.13256502 -4.26468579] [-0.55575082 0.65821408 -0.50783389 2.18690458] [-0.20613742 0.48267599 0.85119402 2.13622248] [ 0. 0. 0. 1. ]] SLAMing on 48.234839173 meters Centerline goodness : 0.709140 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.20, Z:2.13 [[ 0.80618882 0.57840091 -0.12454704 -4.26702714] [-0.55296742 0.66171233 -0.50632384 2.20132726] [-0.21044386 0.47706308 0.85330194 2.12739525] [ 0. 0. 0. 1. ]] SLAMing on 48.26483917299999 meters Centerline goodness : 0.704885 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.22, Z:2.12 [[ 0.81051088 0.57383975 -0.11738852 -4.26803608] [-0.54629339 0.66832024 -0.50488769 2.2170506 ] [-0.2112715 0.47334554 0.85516569 2.11705019] [ 0. 0. 0. 1. ]] SLAMing on 48.29483917299999 meters Centerline goodness : 0.701758 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.22, Z:2.11 [[ 0.81102878 0.57298747 -0.1179732 -4.26358758] [-0.5459847 0.66896234 -0.50437099 2.21697117] [-0.21007863 0.47347095 0.8553901 2.11154425] [ 0. 0. 0. 1. ]] SLAMing on 48.324839172999994 meters Centerline goodness : 0.700079 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.22, Z:2.10 [[ 0.81311118 0.57057683 -0.1152922 -4.26453875] [-0.5434151 0.67302104 -0.50173968 2.21752284] [-0.20868696 0.47062166 0.857301 2.10495697] [ 0. 0. 0. 1. ]] SLAMing on 48.354839172999995 meters Centerline goodness : 0.702179 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.22, Z:2.10 [[ 0.81198993 0.57300576 -0.11107098 -4.26756004] [-0.54439919 0.67489199 -0.49814689 2.21785557] [-0.21048012 0.46495721 0.85994937 2.10417948] [ 0. 0. 0. 1. ]] SLAMing on 48.384839172999996 meters Centerline goodness : 0.703392 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.10 [[ 0.81259653 0.57447997 -0.09828349 -4.28036031] [-0.5410381 0.68082788 -0.49371163 2.23322187] [-0.2167133 0.45436347 0.86405392 2.10021117] [ 0. 0. 0. 1. ]] SLAMing on 48.414839173 meters Centerline goodness : 0.696763 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.23, Z:2.09 [[ 0.81340359 0.57301245 -0.1001565 -4.27056315] [-0.54093063 0.6817754 -0.49252041 2.23453231] [-0.21393609 0.45479559 0.86451855 2.09281793] [ 0. 0. 0. 1. ]] SLAMing on 48.444839173 meters Centerline goodness : 0.698633 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.23, Z:2.09 [[ 0.81309944 0.57372268 -0.09854743 -4.26894432] [-0.54165229 0.68362807 -0.48914768 2.23303936] [-0.21326533 0.45110414 0.86661581 2.08950941] [ 0. 0. 0. 1. ]] SLAMing on 48.47483917299999 meters Centerline goodness : 0.701354 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.23, Z:2.09 [[ 0.81113359 0.57710253 -0.09494719 -4.27172994] [-0.54380721 0.68444242 -0.48560509 2.2321108 ] [-0.21525804 0.44552356 0.86900675 2.08900517] [ 0. 0. 0. 1. ]] SLAMing on 48.50483917299999 meters Centerline goodness : 0.702906 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.09 [[ 0.80994948 0.57947812 -0.09048174 -4.27588096] [-0.54493064 0.68648788 -0.48144053 2.23059371] [-0.21686963 0.43924878 0.87179589 2.08658938] [ 0. 0. 0. 1. ]] SLAMing on 48.534839172999995 meters Centerline goodness : 0.700590 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.24, Z:2.08 [[ 0.81381237 0.57514114 -0.08319906 -4.28380922] [-0.53878554 0.6930955 -0.47888283 2.24052447] [-0.21776032 0.43454723 0.87392743 2.07843888] [ 0. 0. 0. 1. ]] SLAMing on 48.564839172999996 meters Centerline goodness : 0.700590 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.24, Z:2.08 [[ 0.81381237 0.57514114 -0.08319906 -4.28380922] [-0.53878554 0.6930955 -0.47888283 2.24052447] [-0.21776032 0.43454723 0.87392743 2.07843888] [ 0. 0. 0. 1. ]] SLAMing on 48.594839173 meters Centerline goodness : 0.698423 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.07 [[ 0.81739325 0.56986938 -0.08436331 -4.27888585] [-0.5360687 0.69879705 -0.47361697 2.2345152 ] [-0.21094697 0.43235584 0.87668113 2.06989821] [ 0. 0. 0. 1. ]] SLAMing on 48.624839173 meters Centerline goodness : 0.690730 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.06 [[ 0.82056164 0.56542131 -0.08353042 -4.2779678 ] [-0.53289833 0.7040095 -0.46945712 2.2307728 ] [-0.20663485 0.42973173 0.87899527 2.06062232] [ 0. 0. 0. 1. ]] SLAMing on 48.65483917299999 meters Centerline goodness : 0.691628 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.23, Z:2.05 [[ 0.82173738 0.56430057 -0.07945149 -4.28514125] [-0.52998352 0.70552214 -0.47048483 2.23381425] [-0.20944007 0.42872295 0.87882392 2.05382333] [ 0. 0. 0. 1. ]] SLAMing on 48.68483917299999 meters Centerline goodness : 0.692450 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.24, Z:2.05 [[ 0.82191562 0.56457977 -0.07552741 -4.29234943] [-0.52841251 0.70622914 -0.47119064 2.23508899] [-0.21268505 0.42718858 0.87879178 2.04781594] [ 0. 0. 0. 1. ]] SLAMing on 48.714839172999994 meters Centerline goodness : 0.694344 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.24, Z:2.04 [[ 0.81878969 0.56933841 -0.07373755 -4.29038542] [-0.53210012 0.70439114 -0.46978994 2.23512315] [-0.21552938 0.42389492 0.87969323 2.04138971] [ 0. 0. 0. 1. ]] SLAMing on 48.744839172999995 meters Centerline goodness : 0.692022 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.23, Z:2.04 [[ 0.81695582 0.57213997 -0.07238115 -4.28564573] [-0.53489567 0.70482858 -0.46594345 2.23377202] [-0.21556857 0.41937158 0.88184901 2.03513141] [ 0. 0. 0. 1. ]] SLAMing on 48.774839173 meters Centerline goodness : 0.686668 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.03 [[ 0.81460313 0.57566254 -0.07095341 -4.27744912] [-0.53879636 0.70573201 -0.46004435 2.23273509] [-0.21475621 0.41298301 0.88505639 2.02553058] [ 0. 0. 0. 1. ]] SLAMing on 48.804839173 meters Centerline goodness : 0.690532 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.23, Z:2.02 [[ 0.81160231 0.58082823 -0.06277148 -4.28192576] [-0.54158249 0.70773659 -0.4536489 2.23424596] [-0.21906641 0.40217843 0.88896705 2.01842314] [ 0. 0. 0. 1. ]] SLAMing on 48.83483917299999 meters Centerline goodness : 0.693596 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.24, Z:2.01 [[ 0.80566373 0.589814 -0.0550036 -4.28563136] [-0.54761265 0.70616143 -0.44883897 2.23660893] [-0.22589009 0.39173395 0.89191826 2.01174534] [ 0. 0. 0. 1. ]] SLAMing on 48.86483917299999 meters Centerline goodness : 0.695874 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.25, Z:2.00 [[ 0.80524333 0.5912681 -0.04455578 -4.29594879] [-0.54526604 0.70887825 -0.44741096 2.24881224] [-0.2329552 0.38456945 0.8932179 2.00332747] [ 0. 0. 0. 1. ]] SLAMing on 48.894839172999994 meters Centerline goodness : 0.696336 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.25, Z:2.00 [[ 0.80179327 0.59621156 -0.04073481 -4.29862108] [-0.54898956 0.70792931 -0.44434958 2.24719035] [-0.23608899 0.37863949 0.89492688 1.99940243] [ 0. 0. 0. 1. ]] SLAMing on 48.924839172999995 meters Centerline goodness : 0.702529 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.24, Z:2.00 [[ 0.79943737 0.59957787 -0.03750032 -4.30047089] [-0.55179915 0.70818498 -0.44044492 2.24396678] [-0.23752386 0.37280077 0.8969961 1.99642206] [ 0. 0. 0. 1. ]] SLAMing on 48.954839172999996 meters Centerline goodness : 0.704431 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.24, Z:1.99 [[ 0.79810396 0.60153293 -0.03447048 -4.3025933 ] [-0.55363351 0.70957372 -0.43588424 2.23919774] [-0.23773938 0.36696495 0.89934238 1.99336145] [ 0. 0. 0. 1. ]] SLAMing on 48.984839173 meters Centerline goodness : 0.701421 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.24, Z:1.99 [[ 0.80001925 0.59884464 -0.03680084 -4.30074832] [-0.55169879 0.71015665 -0.4373854 2.23684928] [-0.23579154 0.37021971 0.89852085 1.98867301] [ 0. 0. 0. 1. ]] SLAMing on 49.01483917299999 meters Centerline goodness : 0.693483 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.23, Z:1.98 [[ 0.80782728 0.58779501 -0.04372783 -4.2997259 ] [-0.54332392 0.71383834 -0.44185285 2.22900553] [-0.2285043 0.38069916 0.89602117 1.98097467] [ 0. 0. 0. 1. ]] SLAMing on 49.04483917299999 meters Centerline goodness : 0.690572 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.22, Z:1.98 [[ 0.81088619 0.58338728 -0.0460746 -4.29888762] [-0.54027122 0.71604651 -0.44202308 2.2229749 ] [-0.22487908 0.38332319 0.89581959 1.97531236] [ 0. 0. 0. 1. ]] SLAMing on 49.074839172999994 meters Centerline goodness : 0.685832 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.22, Z:1.97 [[ 0.8144728 0.57819213 -0.0482484 -4.29370102] [-0.53726477 0.72019189 -0.43894215 2.2165709 ] [-0.21904479 0.38342862 0.89721897 1.96822762] [ 0. 0. 0. 1. ]] SLAMing on 49.104839172999995 meters Centerline goodness : 0.685816 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.21, Z:1.97 [[ 0.81496689 0.57743799 -0.04893192 -4.28951409] [-0.53738436 0.72142597 -0.4367638 2.2144602 ] [-0.21690325 0.38224329 0.89824442 1.96640067] [ 0. 0. 0. 1. ]] SLAMing on 49.134839172999996 meters Centerline goodness : 0.688625 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.21, Z:1.96 [[ 0.81531043 0.57696967 -0.04873303 -4.28683425] [-0.53767385 0.72316521 -0.43351922 2.21053543] [-0.21488541 0.37965521 0.89982564 1.96329696] [ 0. 0. 0. 1. ]] SLAMing on 49.164839173 meters Centerline goodness : 0.693722 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.21, Z:1.96 [[ 0.81655732 0.57507802 -0.05019388 -4.28767814] [-0.5361303 0.72326476 -0.43526129 2.20609571] [-0.21400573 0.38232625 0.89890388 1.95527954] [ 0. 0. 0. 1. ]] SLAMing on 49.194839173 meters Centerline goodness : 0.701270 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.20, Z:1.95 [[ 0.81702785 0.57440924 -0.05019472 -4.28668318] [-0.53591435 0.72437684 -0.433675 2.20275607] [-0.21274704 0.38122462 0.89967021 1.95237912] [ 0. 0. 0. 1. ]] SLAMing on 49.22483917299999 meters Centerline goodness : 0.702421 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.20, Z:1.95 [[ 0.81804858 0.57289917 -0.05082375 -4.28423954] [-0.53511623 0.72574016 -0.43237929 2.20011334] [-0.2108249 0.38090387 0.90025835 1.94979601] [ 0. 0. 0. 1. ]] SLAMing on 49.25483917299999 meters Centerline goodness : 0.706262 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.20, Z:1.94 [[ 0.82504833 0.56324819 -0.04524085 -4.27574232] [-0.52391524 0.73252113 -0.43465574 2.1993158 ] [-0.21167918 0.38231436 0.89945965 1.94131509] [ 0. 0. 0. 1. ]] SLAMing on 49.284839172999995 meters Centerline goodness : 0.710338 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.20, Z:1.94 [[ 0.82604838 0.56174459 -0.04568455 -4.27333594] [-0.5232053 0.73418659 -0.4326965 2.19638126] [-0.20952394 0.38133064 0.9003814 1.9398853 ] [ 0. 0. 0. 1. ]] SLAMing on 49.314839172999996 meters Centerline goodness : 0.710190 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.19, Z:1.94 [[ 0.82778631 0.55907762 -0.04692585 -4.26698318] [-0.52217845 0.73715515 -0.42887289 2.19250845] [-0.2051816 0.37951878 0.90214522 1.93799066] [ 0. 0. 0. 1. ]] SLAMing on 49.344839173 meters Centerline goodness : 0.712389 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.19, Z:1.94 [[ 0.82793937 0.55885917 -0.04682759 -4.26428892] [-0.52247176 0.73829031 -0.42655677 2.19093378] [-0.2038128 0.37762923 0.90324775 1.93705443] [ 0. 0. 0. 1. ]] SLAMing on 49.374839173 meters Centerline goodness : 0.721529 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.19, Z:1.93 [[ 0.82708113 0.56020337 -0.04592382 -4.26489642] [-0.52364803 0.73825684 -0.42517007 2.18830581] [-0.20427813 0.37569806 0.90394768 1.93377051] [ 0. 0. 0. 1. ]] SLAMing on 49.40483917299999 meters Centerline goodness : 0.727992 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.19, Z:1.93 [[ 0.82552238 0.5626802 -0.04363243 -4.264785 ] [-0.52583872 0.73878381 -0.42153544 2.18601719] [-0.20495471 0.37093056 0.90576161 1.93152353] [ 0. 0. 0. 1. ]] SLAMing on 49.43483917299999 meters Centerline goodness : 0.731435 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.19, Z:1.92 [[ 0.82679724 0.56166354 -0.03066576 -4.2578682 ] [-0.52107561 0.74423633 -0.41784268 2.18681603] [-0.21186442 0.36145035 0.90800171 1.92224716] [ 0. 0. 0. 1. ]] SLAMing on 49.464839172999994 meters Centerline goodness : 0.734843 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.19, Z:1.91 [[ 0.82870466 0.55932128 -0.0202062 -4.25084075] [-0.51560823 0.74889926 -0.41629081 2.18926469] [-0.2177079 0.35540062 0.90900697 1.91372028] [ 0. 0. 0. 1. ]] SLAMing on 49.494839172999995 meters Centerline goodness : 0.738556 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.19, Z:1.90 [[ 0.83080612 0.55645955 -0.01067491 -4.24456703] [-0.50972916 0.75305562 -0.41603296 2.190709 ] [-0.22346671 0.35108404 0.90928688 1.90297528] [ 0. 0. 0. 1. ]] SLAMing on 49.524839173 meters Centerline goodness : 0.737116 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.19, Z:1.90 [[ 0.82995421 0.5577441 -0.00987595 -4.2453254 ] [-0.51086117 0.75284085 -0.41503194 2.18841181] [-0.2240466 0.34950275 0.90975324 1.89922884] [ 0. 0. 0. 1. ]] SLAMing on 49.554839173 meters Centerline goodness : 0.744169 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.19, Z:1.89 [[ 8.31086188e-01 5.56139596e-01 2.12075129e-03 -4.24345214e+00] [-5.04764936e-01 7.55902578e-01 -4.16921638e-01 2.19043029e+00] [-2.33469712e-01 3.45427334e-01 9.08939960e-01 1.88942717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58483917299999 meters Centerline goodness : 0.745256 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.19, Z:1.89 [[ 8.30495320e-01 5.57020472e-01 2.39106302e-03 -4.24082862e+00] [-5.06083517e-01 7.56329809e-01 -4.14541546e-01 2.18887283e+00] [-2.32716560e-01 3.43064736e-01 9.10027247e-01 1.88705600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61483917299999 meters Centerline goodness : 0.744973 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.19, Z:1.88 [[ 8.30684041e-01 5.56743590e-01 7.74244285e-04 -4.22813522e+00] [-5.07769316e-01 7.58181304e-01 -4.09061648e-01 2.18894951e+00] [-2.28329468e-01 3.39407845e-01 9.12506421e-01 1.88085112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644839172999994 meters Centerline goodness : 0.742843 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.19, Z:1.88 [[ 8.31317686e-01 5.55797109e-01 -6.91970608e-04 -4.22290633e+00] [-5.07521327e-01 7.58601865e-01 -4.08589419e-01 2.18880522e+00] [-2.26567888e-01 3.40018800e-01 9.12718033e-01 1.87713671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674839172999995 meters Centerline goodness : 0.743075 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.19, Z:1.87 [[ 8.31664804e-01 5.55277517e-01 -7.30246371e-04 -4.21878301e+00] [-5.07835373e-01 7.60075305e-01 -4.05448842e-01 2.18520236e+00] [-2.24581584e-01 3.37568377e-01 9.14117445e-01 1.86992893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704839172999996 meters Centerline goodness : 0.744328 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.18, Z:1.87 [[ 8.31538686e-01 5.55466788e-01 2.46195777e-04 -4.21595278e+00] [-5.08812668e-01 7.61874709e-01 -4.00819904e-01 2.18098555e+00] [-2.22829715e-01 3.33171989e-01 9.16156834e-01 1.86673231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734839173 meters Centerline goodness : 0.747684 Centerline is valid? [False, False] Translation: X:-4.21, Y:2.18, Z:1.86 [[ 0.83559485 0.54925469 0.01002622 -4.20855538] [-0.50050777 0.7687043 -0.39822817 2.17882996] [-0.22643589 0.32773921 0.9172316 1.85832067] [ 0. 0. 0. 1. ]] SLAMing on 49.76483917299999 meters Centerline goodness : 0.747595 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.18, Z:1.86 [[ 0.83670529 0.54756777 0.00968462 -4.2047109 ] [-0.49987162 0.77080892 -0.39494552 2.17533881] [-0.22372443 0.32561194 0.91865349 1.85646941] [ 0. 0. 0. 1. ]] SLAMing on 49.79483917299999 meters Centerline goodness : 0.745737 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.17, Z:1.85 [[ 0.83857524 0.54472708 0.00799855 -4.19725367] [-0.49876667 0.77356228 -0.39093889 2.17086123] [-0.21914238 0.32384226 0.92038188 1.85069315] [ 0. 0. 0. 1. ]] SLAMing on 49.824839172999994 meters Centerline goodness : 0.742343 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.17, Z:1.84 [[ 0.83788799 0.54581246 0.00569899 -4.19266083] [-0.49988231 0.77148936 -0.39360111 2.17150874] [-0.2192291 0.32694482 0.91926366 1.84170115] [ 0. 0. 0. 1. ]] SLAMing on 49.854839172999995 meters Centerline goodness : 0.744082 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.17, Z:1.84 [[ 0.83646369 0.54798938 0.00601104 -4.19097924] [-0.50202584 0.77061034 -0.39259363 2.17088219] [-0.21976931 0.32537261 0.9196924 1.83768689] [ 0. 0. 0. 1. ]] SLAMing on 49.884839172999996 meters Centerline goodness : 0.747217 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.17, Z:1.84 [[ 0.83380892 0.55198409 0.0087319 -4.19099426] [-0.50587611 0.77030125 -0.38823363 2.1685812 ] [-0.22102497 0.3192954 0.92151962 1.83502201] [ 0. 0. 0. 1. ]] SLAMing on 49.914839173 meters Centerline goodness : 0.747721 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.17, Z:1.83 [[ 0.83391616 0.55134538 0.02453815 -4.18703236] [-0.50212812 0.7764238 -0.38083255 2.16810945] [-0.22902227 0.30526112 0.92431837 1.82848882] [ 0. 0. 0. 1. ]] SLAMing on 49.944839173 meters Centerline goodness : 0.750960 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.17, Z:1.82 [[ 0.83514322 0.54882806 0.03638075 -4.1808734 ] [-0.49756286 0.78201468 -0.37534549 2.16686047] [-0.23445042 0.29536553 0.92617072 1.81998383] [ 0. 0. 0. 1. ]] SLAMing on 49.97483917299999 meters Centerline goodness : 0.751490 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.16, Z:1.82 [[ 0.83386171 0.5506844 0.03770064 -4.18074909] [-0.49960902 0.78202972 -0.37258602 2.16387456] [-0.23466033 0.29184963 0.92723154 1.81687963] [ 0. 0. 0. 1. ]] SLAMing on 50.00483917299999 meters Centerline goodness : 0.753222 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.16, Z:1.81 [[ 0.83174434 0.5537746 0.03917982 -4.18343949] [-0.50224397 0.78066074 -0.37191369 2.16067102] [-0.2365425 0.28965928 0.9274401 1.81138103] [ 0. 0. 0. 1. ]] SLAMing on 50.034839172999995 meters Centerline goodness : 0.752939 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.16, Z:1.81 [[ 0.83131979 0.55440217 0.03931473 -4.18341101] [-0.50295835 0.78050834 -0.3712676 2.15812284] [-0.23651704 0.28886843 0.92769322 1.80772045] [ 0. 0. 0. 1. ]] SLAMing on 50.064839172999996 meters Centerline goodness : 0.754312 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.15, Z:1.80 [[ 0.8304765 0.55557072 0.04061981 -4.18471513] [-0.50434062 0.78085114 -0.3686625 2.15296233] [-0.23653611 0.28567932 0.9286754 1.80343984] [ 0. 0. 0. 1. ]] SLAMing on 50.094839173 meters Centerline goodness : 0.754577 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.15, Z:1.80 [[ 0.82959159 0.55674471 0.04258083 -4.18373254] [-0.50601754 0.78185905 -0.36420141 2.14919569] [-0.23605941 0.28059178 0.93034628 1.80052902] [ 0. 0. 0. 1. ]] SLAMing on 50.124839173 meters Centerline goodness : 0.756334 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.15, Z:1.80 [[ 0.82878214 0.55789317 0.04330554 -4.18395894] [-0.50709564 0.78152864 -0.36341024 2.14684769] [-0.23658861 0.27922787 0.93062217 1.79569838] [ 0. 0. 0. 1. ]] SLAMing on 50.15483917299999 meters Centerline goodness : 0.762752 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.15, Z:1.78 [[ 0.82963201 0.55570559 0.05387047 -4.18956055] [-0.49931666 0.78167563 -0.37371925 2.1488639 ] [-0.24978711 0.28315103 0.92597619 1.78244862] [ 0. 0. 0. 1. ]] SLAMing on 50.18483917299999 meters Centerline goodness : 0.765060 Centerline is valid? [False, False] Translation: X:-4.19, Y:2.15, Z:1.78 [[ 0.83078328 0.55254152 0.06705979 -4.18862938] [-0.49317165 0.78660722 -0.37152497 2.14719295] [-0.25803269 0.27558474 0.92599794 1.77676794] [ 0. 0. 0. 1. ]] SLAMing on 50.214839172999994 meters Centerline goodness : 0.766241 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.14, Z:1.77 [[ 0.83128196 0.55084145 0.07445807 -4.18302579] [-0.49213295 0.79163139 -0.36211172 2.14434016] [-0.25840949 0.26437367 0.92915612 1.7732365 ] [ 0. 0. 0. 1. ]] SLAMing on 50.244839172999995 meters Centerline goodness : 0.766341 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.14, Z:1.77 [[ 0.83458469 0.54549301 0.07684908 -4.18123359] [-0.48834925 0.79717091 -0.35501205 2.13804994] [-0.25491844 0.25875843 0.93169773 1.76683051] [ 0. 0. 0. 1. ]] SLAMing on 50.274839173 meters Centerline goodness : 0.768853 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.14, Z:1.76 [[ 0.83703963 0.54222612 0.07318125 -4.18028809] [-0.48483896 0.79704668 -0.36006634 2.13534499] [-0.25356624 0.26590867 0.93005201 1.75963814] [ 0. 0. 0. 1. ]] SLAMing on 50.304839173 meters Centerline goodness : 0.773812 Centerline is valid? [False, False] Translation: X:-4.18, Y:2.13, Z:1.75 [[ 0.83891473 0.53960528 0.0710508 -4.1807323 ] [-0.48202464 0.79724378 -0.36339319 2.13192363] [-0.25273369 0.27060766 0.92892259 1.75298361] [ 0. 0. 0. 1. ]] SLAMing on 50.33483917299999 meters Centerline goodness : 0.774321 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.14, Z:1.76 [[ 0.84312035 0.53225324 0.07651514 -4.21949743] [-0.47962104 0.80870222 -0.34053543 2.14215516] [-0.24312905 0.25041408 0.93711315 1.75596986] [ 0. 0. 0. 1. ]] SLAMing on 50.36483917299999 meters Centerline goodness : 0.775790 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.16, Z:1.76 [[ 0.84631017 0.52575948 0.08565085 -4.26564284] [-0.47805758 0.82056027 -0.31327591 2.15644503] [-0.23498946 0.22418255 0.94579181 1.76043336] [ 0. 0. 0. 1. ]] SLAMing on 50.394839172999994 meters Centerline goodness : 0.779519 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.17, Z:1.77 [[ 0.84918414 0.51989475 0.09271319 -4.30843623] [-0.4765627 0.83005825 -0.28963996 2.16912989] [-0.22753964 0.20177401 0.95263475 1.76662413] [ 0. 0. 0. 1. ]] SLAMing on 50.424839172999995 meters Centerline goodness : 0.783030 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.19, Z:1.77 [[ 0.8544714 0.50868133 0.10546054 -4.36580042] [-0.46981508 0.84329689 -0.26100601 2.18838438] [-0.22170343 0.17347522 0.95955924 1.7749662 ] [ 0. 0. 0. 1. ]] SLAMing on 50.454839172999996 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.20, Z:1.78 [[ 0.85787143 0.50175418 0.11090249 -4.4082828 ] [-0.46746919 0.85164159 -0.23702144 2.20203823] [-0.21337567 0.15149042 0.9651536 1.78302979] [ 0. 0. 0. 1. ]] SLAMing on 50.484839173 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.21, Z:1.79 [[ 0.86012366 0.49689406 0.1152544 -4.44015902] [-0.46659286 0.85773424 -0.21583113 2.21310081] [-0.20610286 0.13186458 0.96960474 1.78774689] [ 0. 0. 0. 1. ]] SLAMing on 50.51483917299999 meters Centerline goodness : 0.787959 Centerline is valid? [False, False] Translation: X:-4.48, Y:2.22, Z:1.80 [[ 0.86541039 0.48773343 0.11480833 -4.48105179] [-0.4613007 0.86499097 -0.19746464 2.2244294 ] [-0.19561828 0.11792678 0.97356395 1.79855506] [ 0. 0. 0. 1. ]] SLAMing on 50.54483917299999 meters Centerline goodness : 0.787558 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.24, Z:1.81 [[ 0.86866981 0.48187591 0.11492765 -4.52359934] [-0.45955709 0.87047863 -0.17627888 2.23955765] [-0.18498661 0.10031233 0.97760799 1.80597645] [ 0. 0. 0. 1. ]] SLAMing on 50.574839172999994 meters Centerline goodness : 0.788624 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.25, Z:1.81 [[ 0.87203609 0.47511083 0.11757022 -4.56030515] [-0.45659613 0.87621013 -0.15419401 2.25407272] [-0.17627546 0.08078063 0.98102062 1.81286195] [ 0. 0. 0. 1. ]] SLAMing on 50.604839172999995 meters Centerline goodness : 0.789075 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.27, Z:1.82 [[ 0.87395161 0.46979648 0.12449839 -4.58848966] [-0.45341533 0.88036404 -0.13918946 2.26981868] [-0.17499462 0.06519537 0.98240849 1.82021369] [ 0. 0. 0. 1. ]] SLAMing on 50.634839172999996 meters Centerline goodness : 0.792404 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.28, Z:1.83 [[ 0.87616869 0.46438601 0.12912809 -4.61648645] [-0.45032375 0.88418067 -0.12422986 2.28309335] [-0.17186317 0.05069687 0.98381547 1.82683031] [ 0. 0. 0. 1. ]] SLAMing on 50.664839173 meters Centerline goodness : 0.792474 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.30, Z:1.83 [[ 0.87839252 0.45880246 0.1338913 -4.64473701] [-0.44717582 0.88782774 -0.10860795 2.29595737] [-0.168702 0.03552747 0.98502662 1.83279385] [ 0. 0. 0. 1. ]] SLAMing on 50.69483917299999 meters Centerline goodness : 0.790679 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.31, Z:1.84 [[ 0.88362169 0.44878564 0.13343225 -4.67498728] [-0.4395122 0.89330624 -0.09398399 2.31081287] [-0.16137452 0.02440119 0.98659153 1.84226852] [ 0. 0. 0. 1. ]] SLAMing on 50.72483917299999 meters Centerline goodness : 0.789391 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.32, Z:1.85 [[ 0.88831487 0.44014439 0.13103284 -4.7030862 ] [-0.43321393 0.89782767 -0.07893772 2.32272351] [-0.1523889 0.0133563 0.98823035 1.84821478] [ 0. 0. 0. 1. ]] SLAMing on 50.75483917299999 meters Centerline goodness : 0.788586 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.32, Z:1.85 [[ 0.8902362 0.43698541 0.12854282 -4.70180353] [-0.42934313 0.89926266 -0.08361307 2.3222322 ] [-0.15213144 0.0192464 0.98817286 1.84579638] [ 0. 0. 0. 1. ]] SLAMing on 50.784839172999995 meters Centerline goodness : 0.785371 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.34, Z:1.85 [[ 0.89288144 0.43204883 0.12687213 -4.72353836] [-0.42687088 0.90183285 -0.06692359 2.33520428] [-0.14333171 0.00559681 0.98965888 1.8475725 ] [ 0. 0. 0. 1. ]] SLAMing on 50.814839172999996 meters Centerline goodness : 0.784338 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.35, Z:1.85 [[ 0.89520817 0.42620806 0.1301884 -4.74624059] [-0.42278228 0.90460237 -0.05431105 2.34832745] [-0.14091655 -0.00642165 0.99000065 1.85130275] [ 0. 0. 0. 1. ]] SLAMing on 50.844839173 meters Centerline goodness : 0.785363 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.36, Z:1.85 [[ 8.96368513e-01 4.20348891e-01 1.40820093e-01 -4.74578904e+00] [-4.15966709e-01 9.07352917e-01 -6.06826216e-02 2.35548792e+00] [-1.53281395e-01 -4.18247942e-03 9.88173730e-01 1.85300487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.874839173 meters Centerline goodness : 0.784198 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.36, Z:1.85 [[ 8.97019355e-01 4.15321800e-01 1.51208729e-01 -4.74609140e+00] [-4.09484282e-01 9.09674500e-01 -6.93896722e-02 2.36252310e+00] [-1.66369768e-01 3.26281202e-04 9.86063382e-01 1.85214089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90483917299999 meters Centerline goodness : 0.787191 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.37, Z:1.85 [[ 8.97542423e-01 4.10159681e-01 1.61822849e-01 -4.74504604e+00] [-4.02973800e-01 9.12007131e-01 -7.65186911e-02 2.36839449e+00] [-1.78968474e-01 3.46840301e-03 9.83848695e-01 1.84815532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93483917299999 meters Centerline goodness : 0.788349 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.38, Z:1.85 [[ 0.89874747 0.40443258 0.16937315 -4.74400893] [-0.39430165 0.91444132 -0.091232 2.37758937] [-0.191779 0.01521042 0.98132026 1.84547674] [ 0. 0. 0. 1. ]] SLAMing on 50.964839172999994 meters Centerline goodness : 0.785008 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.38, Z:1.84 [[ 0.89911968 0.4037696 0.16897903 -4.74185703] [-0.39366598 0.9147318 -0.09106495 2.37793881] [-0.19133975 0.01535699 0.98140372 1.8434954 ] [ 0. 0. 0. 1. ]] SLAMing on 50.994839172999995 meters Centerline goodness : 0.788003 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.39, Z:1.84 [[ 0.89826402 0.40186326 0.1778417 -4.74002673] [-0.38927973 0.91541872 -0.10232234 2.38883973] [-0.20391921 0.02268231 0.97872492 1.83960259] [ 0. 0. 0. 1. ]] SLAMing on 51.024839173 meters Centerline goodness : 0.786560 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.39, Z:1.84 [[ 0.8961979 0.40573386 0.17946966 -4.73973429] [-0.39362654 0.91378996 -0.10023001 2.38952316] [-0.20466428 0.0191819 0.97864426 1.83544505] [ 0. 0. 0. 1. ]] SLAMing on 51.054839173 meters Centerline goodness : 0.786828 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.39, Z:1.84 [[ 0.89571373 0.40669188 0.1797182 -4.74072568] [-0.39447706 0.91335934 -0.10080955 2.39051512] [-0.20514572 0.01940179 0.97853912 1.83611284] [ 0. 0. 0. 1. ]] SLAMing on 51.08483917299999 meters Centerline goodness : 0.789270 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.39, Z:1.84 [[ 0.89633494 0.40556589 0.17916469 -4.73538646] [-0.39397982 0.91390732 -0.09774107 2.39278264] [-0.20338036 0.01702146 0.97895184 1.83586303] [ 0. 0. 0. 1. ]] SLAMing on 51.11483917299999 meters Centerline goodness : 0.787841 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.39, Z:1.84 [[ 0.89696259 0.40460232 0.17819953 -4.73243984] [-0.39301431 0.91432263 -0.09774395 2.39445631] [-0.20247929 0.0176377 0.9791277 1.83548569] [ 0. 0. 0. 1. ]] SLAMing on 51.144839172999994 meters Centerline goodness : 0.785852 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.40, Z:1.83 [[ 0.89738211 0.40405984 0.17731609 -4.72930795] [-0.39242013 0.91454783 -0.09802404 2.39657945] [-0.20177162 0.01838262 0.97926007 1.83401514] [ 0. 0. 0. 1. ]] SLAMing on 51.174839172999995 meters Centerline goodness : 0.783216 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.40, Z:1.83 [[ 0.89671341 0.40564113 0.17708849 -4.72442914] [-0.39459025 0.91389927 -0.09532391 2.39877398] [-0.20050834 0.01560084 0.97956777 1.83101504] [ 0. 0. 0. 1. ]] SLAMing on 51.204839172999996 meters Centerline goodness : 0.784926 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.41, Z:1.82 [[ 0.89725782 0.39997363 0.18694787 -4.71792431] [-0.38876075 0.91644226 -0.09486133 2.40623553] [-0.20926896 0.01243708 0.97777903 1.82404147] [ 0. 0. 0. 1. ]] SLAMing on 51.234839173 meters Centerline goodness : 0.782822 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.41, Z:1.82 [[ 0.89745379 0.39995556 0.18604366 -4.71499868] [-0.38854207 0.91643154 -0.0958556 2.41003547] [-0.20883426 0.01374018 0.97785452 1.82302827] [ 0. 0. 0. 1. ]] SLAMing on 51.26483917299999 meters Centerline goodness : 0.781149 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.41, Z:1.82 [[ 0.8970607 0.4012207 0.18521351 -4.70823266] [-0.39028427 0.91590476 -0.09379049 2.41374699] [-0.20726862 0.01184985 0.9782123 1.8182746 ] [ 0. 0. 0. 1. ]] SLAMing on 51.29483917299999 meters Centerline goodness : 0.779143 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.42, Z:1.82 [[ 0.89725382 0.40096319 0.18483533 -4.70505121] [-0.39031769 0.91603085 -0.09240987 2.41657812] [-0.20636781 0.01077061 0.97841521 1.81823497] [ 0. 0. 0. 1. ]] SLAMing on 51.324839172999994 meters Centerline goodness : 0.777756 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.42, Z:1.81 [[ 0.89838209 0.39474802 0.19257109 -4.6969944 ] [-0.38417397 0.91875583 -0.09109381 2.42221105] [-0.21288492 0.00785625 0.9770457 1.80824021] [ 0. 0. 0. 1. ]] SLAMing on 51.354839172999995 meters Centerline goodness : 0.776152 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.42, Z:1.81 [[ 0.89899265 0.39390188 0.19145108 -4.69329565] [-0.38337381 0.91911533 -0.09083794 2.4241723 ] [-0.21174686 0.00826532 0.9772896 1.80725533] [ 0. 0. 0. 1. ]] SLAMing on 51.384839172999996 meters Centerline goodness : 0.774445 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.43, Z:1.81 [[ 0.9005792 0.39141602 0.18907832 -4.68648665] [-0.38090779 0.92016412 -0.09059389 2.42716471] [-0.20944298 0.00956557 0.97777407 1.80556567] [ 0. 0. 0. 1. ]] SLAMing on 51.414839173 meters Centerline goodness : 0.771450 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.43, Z:1.80 [[ 0.90267253 0.38293143 0.19633089 -4.67768728] [-0.37234403 0.9237427 -0.08977387 2.43358076] [-0.21573647 0.00793377 0.97641939 1.79708596] [ 0. 0. 0. 1. ]] SLAMing on 51.44483917299999 meters Centerline goodness : 0.771796 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.79 [[ 0.90246867 0.37724781 0.2079288 -4.67607069] [-0.36596755 0.92608767 -0.09181167 2.44094005] [-0.22719605 0.00676196 0.97382557 1.79275343] [ 0. 0. 0. 1. ]] SLAMing on 51.47483917299999 meters Centerline goodness : 0.769970 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.45, Z:1.79 [[ 9.02140178e-01 3.71421687e-01 2.19520001e-01 -4.67460234e+00] [-3.59717730e-01 9.28452940e-01 -9.26190767e-02 2.44701947e+00] [-2.38214724e-01 4.59015385e-03 9.71201666e-01 1.78798072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50483917299999 meters Centerline goodness : 0.770147 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.79 [[ 9.01938067e-01 3.71729000e-01 2.19830100e-01 -4.67518722e+00] [-3.60080073e-01 9.28331763e-01 -9.24255291e-02 2.44685244e+00] [-2.38432514e-01 4.20566469e-03 9.71149962e-01 1.78835737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534839172999995 meters Centerline goodness : 0.771864 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.79 [[ 0.90166507 0.37230757 0.21997085 -4.67534669] [-0.36043808 0.92809637 -0.09338907 2.4488841 ] [-0.2389236 0.00491979 0.97102591 1.78857242] [ 0. 0. 0. 1. ]] SLAMing on 51.564839172999996 meters Centerline goodness : 0.766927 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.45, Z:1.79 [[ 9.00436621e-01 3.74923909e-01 2.20558279e-01 -4.67267494e+00] [-3.63627151e-01 9.27053283e-01 -9.13646829e-02 2.45166580e+00] [-2.38724081e-01 2.06712779e-03 9.71085238e-01 1.78556047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594839173 meters Centerline goodness : 0.762272 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.46, Z:1.78 [[ 8.99471243e-01 3.77547494e-01 2.20021303e-01 -4.66854557e+00] [-3.65792354e-01 9.25982977e-01 -9.35493447e-02 2.45587948e+00] [-2.39055302e-01 3.66283495e-03 9.70999046e-01 1.77753797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624839173 meters Centerline goodness : 0.760301 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.46, Z:1.78 [[ 8.99211657e-01 3.78296806e-01 2.19795182e-01 -4.66727970e+00] [-3.66285534e-01 9.25672766e-01 -9.46828262e-02 2.45909678e+00] [-2.39276625e-01 4.63210540e-03 9.70940390e-01 1.77652163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65483917299999 meters Centerline goodness : 0.755619 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 0.89878137 0.3796128 0.21928559 -4.66451649] [-0.36744177 0.92513052 -0.09549908 2.46261033] [-0.23912046 0.00525811 0.97097567 1.77456544] [ 0. 0. 0. 1. ]] SLAMing on 51.68483917299999 meters Centerline goodness : 0.749313 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 0.89862944 0.38014747 0.21898179 -4.66345875] [-0.36780257 0.92490659 -0.09627596 2.46274245] [-0.23913676 0.00597435 0.97096752 1.77213878] [ 0. 0. 0. 1. ]] SLAMing on 51.714839172999994 meters Centerline goodness : 0.749343 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 0.89869313 0.37995576 0.21905315 -4.6631445 ] [-0.36789485 0.92499181 -0.09509747 2.46079909] [-0.2387552 0.00487492 0.97106755 1.77166576] [ 0. 0. 0. 1. ]] SLAMing on 51.744839172999995 meters Centerline goodness : 0.747547 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 8.98389679e-01 3.80267893e-01 2.19755123e-01 -4.66181582e+00] [-3.69511893e-01 9.24876239e-01 -8.98048128e-02 2.45887496e+00] [-2.37396178e-01 -5.22414379e-04 9.71412776e-01 1.77336626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774839173 meters Centerline goodness : 0.744528 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 0.89943888 0.3719666 0.22945707 -4.65595908] [-0.36212176 0.92822397 -0.08525306 2.463419 ] [-0.24469884 -0.00641148 0.96957793 1.76941431] [ 0. 0. 0. 1. ]] SLAMing on 51.804839173 meters Centerline goodness : 0.741461 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.77 [[ 0.89958091 0.371722 0.22929662 -4.65581046] [-0.36188194 0.92832248 -0.08519883 2.46383469] [-0.24453148 -0.00633507 0.96962066 1.77054325] [ 0. 0. 0. 1. ]] SLAMing on 51.83483917299999 meters Centerline goodness : 0.740112 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.46, Z:1.76 [[ 8.98696279e-01 3.73770165e-01 2.29435964e-01 -4.65559211e+00] [-3.63285689e-01 9.27511588e-01 -8.80100150e-02 2.46243893e+00] [-2.45700033e-01 -4.25652920e-03 9.69336565e-01 1.76344770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86483917299999 meters Centerline goodness : 0.732531 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.76 [[ 8.99441481e-01 3.73082225e-01 2.27628370e-01 -4.65256140e+00] [-3.61385139e-01 9.27797616e-01 -9.26950126e-02 2.46365903e+00] [-2.45775920e-01 1.11222950e-03 9.69326034e-01 1.75755814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894839172999994 meters Centerline goodness : 0.731037 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.75 [[ 8.98475780e-01 3.75269469e-01 2.27846654e-01 -4.65208067e+00] [-3.62969069e-01 9.26911041e-01 -9.53382264e-02 2.46042638e+00] [-2.46971105e-01 2.95779939e-03 9.69018331e-01 1.74815649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924839172999995 meters Centerline goodness : 0.731213 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.75 [[ 8.98155026e-01 3.75779728e-01 2.28269896e-01 -4.65344422e+00] [-3.63499990e-01 9.26705275e-01 -9.53157392e-02 2.45947365e+00] [-2.47356639e-01 2.63220532e-03 9.68920928e-01 1.74899960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954839172999996 meters Centerline goodness : 0.733723 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.45, Z:1.75 [[ 8.97266510e-01 3.76736913e-01 2.30178428e-01 -4.65800843e+00] [-3.64837632e-01 9.26320248e-01 -9.39377452e-02 2.45248068e+00] [-2.48608755e-01 3.09440086e-04 9.68603939e-01 1.74694546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984839173 meters Centerline goodness : 0.733128 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.45, Z:1.75 [[ 0.8986888 0.37474786 0.22786506 -4.65519764] [-0.36186397 0.92711208 -0.09755846 2.45414719] [-0.24781628 0.00521854 0.96879299 1.74611122] [ 0. 0. 0. 1. ]] SLAMing on 52.01483917299999 meters Centerline goodness : 0.736652 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.45, Z:1.74 [[ 0.90186831 0.36955931 0.22373973 -4.65117658] [-0.35482998 0.92909073 -0.10433647 2.45423586] [-0.24643302 0.01470819 0.96904821 1.74345006] [ 0. 0. 0. 1. ]] SLAMing on 52.04483917299999 meters Centerline goodness : 0.733366 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.74 [[ 0.90372558 0.36502001 0.22369724 -4.65377591] [-0.35090565 0.93090724 -0.10137525 2.44096471] [-0.24524538 0.01311878 0.96937227 1.73776569] [ 0. 0. 0. 1. ]] SLAMing on 52.074839172999994 meters Centerline goodness : 0.734507 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.74 [[ 0.90394051 0.36433833 0.22394003 -4.65416382] [-0.35069219 0.93119756 -0.09942879 2.43646337] [-0.24475814 0.01134369 0.96951781 1.73660857] [ 0. 0. 0. 1. ]] SLAMing on 52.104839172999995 meters Centerline goodness : 0.736311 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.74 [[ 0.90548569 0.36189122 0.22165383 -4.65186158] [-0.34720159 0.93207106 -0.1034147 2.43706253] [-0.24402199 0.01668197 0.96962621 1.7354279 ] [ 0. 0. 0. 1. ]] SLAMing on 52.134839172999996 meters Centerline goodness : 0.715364 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.74 [[ 0.90693084 0.35968635 0.2193221 -4.64917506] [-0.34404484 0.93282065 -0.10713912 2.43987487] [-0.24312466 0.02171113 0.96975204 1.73640131] [ 0. 0. 0. 1. ]] SLAMing on 52.164839173 meters Centerline goodness : 0.734319 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.73 [[ 0.9077681 0.3581951 0.21829649 -4.64584572] [-0.3430657 0.93342309 -0.10501076 2.43612035] [-0.24137732 0.02043538 0.97021615 1.73275041] [ 0. 0. 0. 1. ]] SLAMing on 52.19483917299999 meters Centerline goodness : 0.734500 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.73 [[ 0.91163587 0.3513698 0.21321188 -4.6400144 ] [-0.33421747 0.93569826 -0.11299313 2.43479007] [-0.23920436 0.03174946 0.97045002 1.72585157] [ 0. 0. 0. 1. ]] SLAMing on 52.22483917299999 meters Centerline goodness : 0.737568 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.73 [[ 0.91692107 0.34752639 0.19616615 -4.63734959] [-0.32833586 0.93636657 -0.12414997 2.43388844] [-0.22682881 0.04942734 0.97267961 1.73301919] [ 0. 0. 0. 1. ]] SLAMing on 52.25483917299999 meters Centerline goodness : 0.729842 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.43, Z:1.72 [[ 0.91966313 0.3343722 0.20594892 -4.66127858] [-0.32111066 0.94218527 -0.09578552 2.42717537] [-0.22607005 0.02195802 0.97386353 1.72417439] [ 0. 0. 0. 1. ]] SLAMing on 52.284839172999995 meters Centerline goodness : 0.730781 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.72 [[ 0.9217116 0.32960471 0.20447119 -4.6609791 ] [-0.31599754 0.94379496 -0.09693621 2.4203417 ] [-0.22492951 0.02473484 0.97406104 1.7217958 ] [ 0. 0. 0. 1. ]] SLAMing on 52.314839172999996 meters Centerline goodness : 0.734349 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.72 [[ 0.92165875 0.3298367 0.20433525 -4.66080417] [-0.31608085 0.94369663 -0.09761947 2.4237055 ] [-0.22502897 0.02538538 0.97402133 1.72465271] [ 0. 0. 0. 1. ]] SLAMing on 52.344839173 meters Centerline goodness : 0.735048 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.73 [[ 0.91789746 0.3376283 0.20849792 -4.66063937] [-0.32685611 0.9412258 -0.08520023 2.42479763] [-0.22500962 0.01005625 0.97430464 1.72691108] [ 0. 0. 0. 1. ]] SLAMing on 52.374839173 meters Centerline goodness : 0.735048 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.73 [[ 0.91789746 0.3376283 0.20849792 -4.66063937] [-0.32685611 0.9412258 -0.08520023 2.42479763] [-0.22500962 0.01005625 0.97430464 1.72691108] [ 0. 0. 0. 1. ]] SLAMing on 52.40483917299999 meters Centerline goodness : 0.736295 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.43, Z:1.73 [[ 0.916232 0.34136218 0.20973982 -4.6601453 ] [-0.33135238 0.93991345 -0.08226976 2.42638142] [-0.22522106 0.0058804 0.97428994 1.72598095] [ 0. 0. 0. 1. ]] SLAMing on 52.43483917299999 meters Centerline goodness : 0.732252 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.43, Z:1.72 [[ 0.91477003 0.34522617 0.20979676 -4.65857464] [-0.33483259 0.93849401 -0.0843572 2.4287145 ] [-0.22601532 0.00692064 0.97409916 1.71919775] [ 0. 0. 0. 1. ]] SLAMing on 52.464839172999994 meters Centerline goodness : 0.737375 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.43, Z:1.72 [[ 0.91529819 0.34450331 0.20867844 -4.65922574] [-0.33283346 0.93869846 -0.08981694 2.42869621] [-0.22682836 0.01275412 0.97385123 1.71612659] [ 0. 0. 0. 1. ]] SLAMing on 52.494839172999995 meters Centerline goodness : 0.734649 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.72 [[ 0.91646797 0.34185855 0.20789225 -4.66023976] [-0.32995744 0.93964095 -0.0905703 2.42237408] [-0.2263063 0.01440919 0.97394961 1.71596375] [ 0. 0. 0. 1. ]] SLAMing on 52.524839173 meters Centerline goodness : 0.734934 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.42, Z:1.72 [[ 0.9164811 0.34162577 0.20821677 -4.65787581] [-0.33122173 0.93980142 -0.08405628 2.41945991] [-0.22439821 0.00807007 0.97446412 1.71785165] [ 0. 0. 0. 1. ]] SLAMing on 52.554839173 meters Centerline goodness : 0.734294 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.72 [[ 9.16107879e-01 3.42440753e-01 2.08520225e-01 -4.65139518e+00] [-3.34561663e-01 9.39535237e-01 -7.30892083e-02 2.42393722e+00] [-2.20940823e-01 -2.80527379e-03 9.75283181e-01 1.72463248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58483917299999 meters Centerline goodness : 0.731382 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.43, Z:1.73 [[ 0.91571771 0.34354421 0.20841895 -4.64808731] [-0.33651166 0.93911383 -0.0694631 2.4276207 ] [-0.21959276 -0.00652682 0.97556979 1.72694236] [ 0. 0. 0. 1. ]] SLAMing on 52.61483917299999 meters Centerline goodness : 0.730497 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.43, Z:1.73 [[ 0.91664288 0.34840395 0.19590947 -4.65020504] [-0.33879521 0.93730575 -0.08170512 2.42770185] [-0.21209346 0.00852123 0.97721223 1.73086737] [ 0. 0. 0. 1. ]] SLAMing on 52.644839172999994 meters Centerline goodness : 0.727991 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.72 [[ 0.91862069 0.34475596 0.19307864 -4.64904399] [-0.33356463 0.93853524 -0.08880447 2.41983568] [-0.21182698 0.01717341 0.97715628 1.71987536] [ 0. 0. 0. 1. ]] SLAMing on 52.674839172999995 meters Centerline goodness : 0.723687 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.42, Z:1.72 [[ 0.92023421 0.34197187 0.19032667 -4.64491725] [-0.32992163 0.93943894 -0.09276956 2.42020618] [-0.21052487 0.02257684 0.97732777 1.7159857 ] [ 0. 0. 0. 1. ]] SLAMing on 52.704839172999996 meters Centerline goodness : 0.718602 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.42, Z:1.71 [[ 0.92111067 0.34052255 0.18867836 -4.6397767 ] [-0.32869223 0.93996645 -0.09178505 2.4205002 ] [-0.20860621 0.02252708 0.97774024 1.71324413] [ 0. 0. 0. 1. ]] SLAMing on 52.734839173 meters Centerline goodness : 0.720031 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.42, Z:1.72 [[ 0.91986582 0.3433049 0.18970666 -4.63550689] [-0.33337479 0.93913237 -0.08301587 2.42323987] [-0.20665942 0.01312004 0.97832497 1.71629299] [ 0. 0. 0. 1. ]] SLAMing on 52.76483917299999 meters Centerline goodness : 0.729483 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.72 [[ 9.16009955e-01 3.44643998e-01 2.05295586e-01 -4.63712423e+00] [-3.35837187e-01 9.38731356e-01 -7.74391758e-02 2.43123556e+00] [-2.19406351e-01 1.98916397e-03 9.75631537e-01 1.71632955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79483917299999 meters Centerline goodness : 0.731306 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.72 [[ 9.15581845e-01 3.45709498e-01 2.05413798e-01 -4.63752376e+00] [-3.36937598e-01 9.38340133e-01 -7.74005877e-02 2.43362008e+00] [-2.19506129e-01 1.65494129e-03 9.75609717e-01 1.71929761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824839172999994 meters Centerline goodness : 0.729168 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.72 [[ 0.91702454 0.34321159 0.20315461 -4.63539031] [-0.33348393 0.9392326 -0.08142842 2.43519126] [-0.21875661 0.00692306 0.9757549 1.7191077 ] [ 0. 0. 0. 1. ]] SLAMing on 52.854839172999995 meters Centerline goodness : 0.732358 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.43, Z:1.72 [[ 0.92033673 0.33624995 0.19979055 -4.63434931] [-0.32512659 0.94164989 -0.08711019 2.43246654] [-0.21742354 0.01521349 0.97595879 1.72098477] [ 0. 0. 0. 1. ]] SLAMing on 52.884839172999996 meters Centerline goodness : 0.735240 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.43, Z:1.73 [[ 0.92127468 0.33368027 0.19977599 -4.63313715] [-0.3239121 0.9426368 -0.08072685 2.42829122] [-0.21525316 0.00966174 0.97651049 1.72621767] [ 0. 0. 0. 1. ]] SLAMing on 52.914839173 meters Centerline goodness : 0.738341 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.43, Z:1.73 [[ 0.92069173 0.33487683 0.20046007 -4.63236562] [-0.32611388 0.94224948 -0.07626038 2.42933286] [-0.21442123 0.00483948 0.97672929 1.73005103] [ 0. 0. 0. 1. ]] SLAMing on 52.94483917299999 meters Centerline goodness : 0.735028 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.73 [[ 9.18373256e-01 3.40167954e-01 2.02178943e-01 -4.63039162e+00] [-3.32755376e-01 9.40361690e-01 -7.06664766e-02 2.43541676e+00] [-2.14159803e-01 -2.37792807e-03 9.76795743e-01 1.73189994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97483917299999 meters Centerline goodness : 0.735922 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.73 [[ 0.91683173 0.34362768 0.20332142 -4.62981979] [-0.33686388 0.93908651 -0.06811199 2.43693022] [-0.21434157 -0.00604441 0.97674007 1.7302989 ] [ 0. 0. 0. 1. ]] SLAMing on 53.00483917299999 meters Centerline goodness : 0.738339 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.73 [[ 0.9155894 0.34642544 0.20417021 -4.63186987] [-0.33937382 0.93806182 -0.06975263 2.43916484] [-0.21568837 -0.00542526 0.97644718 1.73027872] [ 0. 0. 0. 1. ]] SLAMing on 53.034839172999995 meters Centerline goodness : 0.737888 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.73 [[ 0.91594995 0.34578672 0.20363505 -4.63136253] [-0.33864557 0.93830099 -0.07007454 2.44101734] [-0.21530181 -0.00477534 0.97653588 1.73292445] [ 0. 0. 0. 1. ]] SLAMing on 53.064839172999996 meters Centerline goodness : 0.741050 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.74 [[ 9.19204619e-01 3.38852178e-01 2.00604260e-01 -4.62724566e+00] [-3.31626427e-01 9.40836294e-01 -6.96489874e-02 2.44175374e+00] [-2.12336479e-01 -2.50400302e-03 9.77193404e-01 1.73914591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094839173 meters Centerline goodness : 0.744379 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.75 [[ 9.21956834e-01 3.32237189e-01 1.99032777e-01 -4.62899037e+00] [-3.24374740e-01 9.43194337e-01 -7.18712107e-02 2.43907918e+00] [-2.11604877e-01 1.70094852e-03 9.77353817e-01 1.74578774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124839173 meters Centerline goodness : 0.744470 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.75 [[ 0.92344866 0.32894851 0.1975739 -4.62913285] [-0.32022933 0.94432575 -0.07551199 2.4385633 ] [-0.21141367 0.00646249 0.97737531 1.74695501] [ 0. 0. 0. 1. ]] SLAMing on 53.15483917299999 meters Centerline goodness : 0.742074 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.75 [[ 0.92516956 0.3256231 0.19501507 -4.625257 ] [-0.3162555 0.94543852 -0.07828449 2.43871996] [-0.20986599 0.01075184 0.97767104 1.74501665] [ 0. 0. 0. 1. ]] SLAMing on 53.18483917299999 meters Centerline goodness : 0.740770 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.44, Z:1.74 [[ 0.92685394 0.3225627 0.19208093 -4.62054721] [-0.31214482 0.94639453 -0.08308434 2.44161031] [-0.20858425 0.01704998 0.97785577 1.74186226] [ 0. 0. 0. 1. ]] SLAMing on 53.214839172999994 meters Centerline goodness : 0.738513 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.44, Z:1.74 [[ 0.92694476 0.32254163 0.19167762 -4.61925659] [-0.31218832 0.94640398 -0.08281281 2.44257857] [-0.20811504 0.01692338 0.97795794 1.74193463] [ 0. 0. 0. 1. ]] SLAMing on 53.244839172999995 meters Centerline goodness : 0.742121 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.74 [[ 0.9256633 0.31816159 0.20474535 -4.61967019] [-0.30879435 0.94800181 -0.07706241 2.4466056 ] [-0.21861726 0.00810964 0.97577699 1.73851782] [ 0. 0. 0. 1. ]] SLAMing on 53.274839173 meters Centerline goodness : 0.742477 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.74 [[ 0.92570213 0.31774102 0.20522233 -4.62194695] [-0.30822251 0.94813811 -0.07767251 2.44810682] [-0.21925885 0.00864746 0.9756284 1.74257085] [ 0. 0. 0. 1. ]] SLAMing on 53.304839173 meters Centerline goodness : 0.745378 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.74 [[ 0.92698267 0.31502466 0.20362367 -4.62125024] [-0.30450199 0.94898095 -0.08193712 2.44984218] [-0.2190472 0.01395048 0.97561453 1.74353221] [ 0. 0. 0. 1. ]] SLAMing on 53.33483917299999 meters Centerline goodness : 0.743807 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.75 [[ 0.92737859 0.31369408 0.20387488 -4.62365607] [-0.30330567 0.94942884 -0.08118226 2.44882403] [-0.21903108 0.01345028 0.97562517 1.74903384] [ 0. 0. 0. 1. ]] SLAMing on 53.36483917299999 meters Centerline goodness : 0.745017 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.75 [[ 0.92736179 0.31360619 0.20408643 -4.62447659] [-0.30322869 0.9494595 -0.08111111 2.44790027] [-0.21920875 0.01333449 0.97558686 1.74960343] [ 0. 0. 0. 1. ]] SLAMing on 53.394839172999994 meters Centerline goodness : 0.742249 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.75 [[ 0.92814422 0.3124423 0.20230698 -4.62167019] [-0.30092674 0.94974435 -0.08619026 2.45011488] [-0.21906939 0.01911741 0.97552198 1.74519981] [ 0. 0. 0. 1. ]] SLAMing on 53.424839172999995 meters Centerline goodness : 0.739964 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.74 [[ 0.92829344 0.31258252 0.20140374 -4.6187759 ] [-0.30088199 0.94967437 -0.08711274 2.45183082] [-0.21849789 0.02026743 0.97562693 1.74200984] [ 0. 0. 0. 1. ]] SLAMing on 53.454839172999996 meters Centerline goodness : 0.738346 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.45, Z:1.74 [[ 0.92779823 0.31423495 0.20111402 -4.6166856 ] [-0.30245628 0.94912385 -0.08765912 2.45425067] [-0.21842767 0.02050178 0.97563776 1.73934751] [ 0. 0. 0. 1. ]] SLAMing on 53.484839173 meters Centerline goodness : 0.740110 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.46, Z:1.74 [[ 0.92564567 0.31930986 0.20303031 -4.61761352] [-0.30817246 0.94751079 -0.08516476 2.45617228] [-0.21956736 0.01626405 0.97546177 1.73803213] [ 0. 0. 0. 1. ]] SLAMing on 53.51483917299999 meters Centerline goodness : 0.742262 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.46, Z:1.74 [[ 0.92497706 0.32085038 0.20364791 -4.61958995] [-0.30924142 0.94696195 -0.08736592 2.46111293] [-0.22087821 0.0178351 0.97513831 1.74144678] [ 0. 0. 0. 1. ]] SLAMing on 53.54483917299999 meters Centerline goodness : 0.741489 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.46, Z:1.74 [[ 0.92514541 0.32052825 0.2033903 -4.61931082] [-0.30900179 0.94707489 -0.08698876 2.46166609] [-0.2205082 0.01762928 0.97522579 1.74325767] [ 0. 0. 0. 1. ]] SLAMing on 53.574839172999994 meters Centerline goodness : 0.740874 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.46, Z:1.75 [[ 0.92590035 0.31884671 0.20259642 -4.61813061] [-0.30725331 0.94762635 -0.08717623 2.46370568] [-0.21978156 0.01846808 0.97537428 1.7456649 ] [ 0. 0. 0. 1. ]] SLAMing on 53.604839172999995 meters Centerline goodness : 0.741892 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.47, Z:1.74 [[ 0.92609583 0.31877751 0.20181034 -4.61602921] [-0.30695399 0.94762291 -0.0882614 2.46606938] [-0.21937585 0.01979203 0.97543965 1.74442058] [ 0. 0. 0. 1. ]] SLAMing on 53.634839172999996 meters Centerline goodness : 0.740118 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.74 [[ 0.92734688 0.31648136 0.199668 -4.61295964] [-0.30373894 0.94826954 -0.09234466 2.46679608] [-0.21856445 0.02498858 0.97550251 1.74097231] [ 0. 0. 0. 1. ]] SLAMing on 53.664839173 meters Centerline goodness : 0.740143 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.74 [[ 0.9277094 0.31591905 0.1988729 -4.61052182] [-0.30347479 0.94847975 -0.0910451 2.46630436] [-0.2173898 0.02411049 0.97578705 1.74026771] [ 0. 0. 0. 1. ]] SLAMing on 53.69483917299999 meters Centerline goodness : 0.739784 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.74 [[ 0.92926275 0.31292379 0.19634012 -4.60649623] [-0.29953301 0.94931135 -0.09533068 2.47080348] [-0.21621914 0.0297769 0.97589068 1.73964149] [ 0. 0. 0. 1. ]] SLAMing on 53.72483917299999 meters Centerline goodness : 0.736978 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.47, Z:1.74 [[ 0.92936264 0.3127569 0.19613313 -4.60493794] [-0.29965495 0.94940184 -0.0940375 2.46938203] [-0.21562004 0.02862267 0.97605776 1.73772382] [ 0. 0. 0. 1. ]] SLAMing on 53.75483917299999 meters Centerline goodness : 0.735079 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.47, Z:1.73 [[ 0.93116692 0.30873713 0.19393179 -4.60220262] [-0.29486767 0.9505549 -0.09745991 2.46784531] [-0.21443231 0.03356723 0.97616188 1.73447517] [ 0. 0. 0. 1. ]] SLAMing on 53.784839172999995 meters Centerline goodness : 0.737944 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.93200201 0.30653965 0.19340551 -4.60258598] [-0.29317397 0.95132423 -0.09503276 2.46373173] [-0.21312266 0.03186927 0.97650555 1.73879127] [ 0. 0. 0. 1. ]] SLAMing on 53.814839172999996 meters Centerline goodness : 0.737490 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.93234649 0.3059727 0.19264143 -4.60046253] [-0.29287124 0.95153185 -0.09388062 2.46372845] [-0.21202936 0.03111013 0.97676799 1.73903494] [ 0. 0. 0. 1. ]] SLAMing on 53.844839173 meters Centerline goodness : 0.738207 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.93149147 0.30797526 0.1935843 -4.60042168] [-0.29576595 0.95102748 -0.08982896 2.46302706] [-0.21176908 0.02641926 0.97696258 1.73992702] [ 0. 0. 0. 1. ]] SLAMing on 53.874839173 meters Centerline goodness : 0.739217 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.92861155 0.3146079 0.19672942 -4.60201034] [-0.30410776 0.94907674 -0.08229101 2.46247795] [-0.21260072 0.01658944 0.97699832 1.73980329] [ 0. 0. 0. 1. ]] SLAMing on 53.90483917299999 meters Centerline goodness : 0.739118 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.92795336 0.31635113 0.19703943 -4.59912424] [-0.3069723 0.94857575 -0.0772791 2.46005334] [-0.21135415 0.01122576 0.97734508 1.73652567] [ 0. 0. 0. 1. ]] SLAMing on 53.93483917299999 meters Centerline goodness : 0.734457 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.92873648 0.31499545 0.19551579 -4.59772784] [-0.30451842 0.9489424 -0.08232162 2.46456727] [-0.21146416 0.01691693 0.97723934 1.73615644] [ 0. 0. 0. 1. ]] SLAMing on 53.964839172999994 meters Centerline goodness : 0.736943 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.73 [[ 0.92868862 0.31503219 0.19568384 -4.59831297] [-0.30459902 0.94893495 -0.08210903 2.46103002] [-0.21155822 0.01664862 0.97722359 1.73394923] [ 0. 0. 0. 1. ]] SLAMing on 53.994839172999995 meters Centerline goodness : 0.737059 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 0.92780099 0.31697253 0.19675809 -4.59872758] [-0.30729221 0.94835096 -0.07875248 2.46278715] [-0.2115581 0.0126044 0.97728415 1.7366155 ] [ 0. 0. 0. 1. ]] SLAMing on 54.024839173 meters Centerline goodness : 0.739917 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.74 [[ 9.25080984e-01 3.23298356e-01 1.99256985e-01 -4.59610387e+00] [-3.16375311e-01 9.46295953e-01 -6.65629960e-02 2.46483040e+00] [-2.10075785e-01 -1.46382863e-03 9.77684009e-01 1.73885027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054839173 meters Centerline goodness : 0.741049 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.47, Z:1.74 [[ 0.92351141 0.32668249 0.20101053 -4.59761291] [-0.32039616 0.94511929 -0.0639987 2.46765546] [-0.21088618 -0.00529947 0.97749626 1.74093554] [ 0. 0. 0. 1. ]] SLAMing on 54.08483917299999 meters Centerline goodness : 0.743769 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.47, Z:1.73 [[ 0.92068403 0.32634575 0.21410129 -4.59592995] [-0.32114154 0.94514946 -0.05967091 2.47449421] [-0.22183107 -0.01381877 0.97498719 1.73144552] [ 0. 0. 0. 1. ]] SLAMing on 54.11483917299999 meters Centerline goodness : 0.743892 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.48, Z:1.73 [[ 0.92038172 0.32717799 0.21413093 -4.5958894 ] [-0.32170404 0.94487623 -0.06095421 2.47949861] [-0.22227011 -0.01278564 0.97490129 1.7334408 ] [ 0. 0. 0. 1. ]] SLAMing on 54.144839172999994 meters Centerline goodness : 0.744093 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.73 [[ 0.92126282 0.32621437 0.21179945 -4.58934966] [-0.31992649 0.94525745 -0.06430699 2.48744204] [-0.22118287 -0.00851662 0.97519516 1.72903146] [ 0. 0. 0. 1. ]] SLAMing on 54.174839172999995 meters Centerline goodness : 0.745106 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.72 [[ 9.22614916e-01 3.24060961e-01 2.09203753e-01 -4.58511862e+00] [-3.16306814e-01 9.46035501e-01 -7.04757406e-02 2.49180731e+00] [-2.20752613e-01 -1.15060301e-03 9.75329155e-01 1.72472404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204839172999996 meters Centerline goodness : 0.737865 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.49, Z:1.72 [[ 9.22014632e-01 3.25324137e-01 2.09888598e-01 -4.58476257e+00] [-3.17292382e-01 9.45602495e-01 -7.18433349e-02 2.49315402e+00] [-2.21843553e-01 -3.55447312e-04 9.75082208e-01 1.71828115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234839173 meters Centerline goodness : 0.737413 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.50, Z:1.72 [[ 9.21691654e-01 3.25835595e-01 2.10512848e-01 -4.58672212e+00] [-3.17373395e-01 9.45425688e-01 -7.37861488e-02 2.49631264e+00] [-2.23066407e-01 1.19690038e-03 9.74802516e-01 1.71971125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters Centerline goodness : 0.738093 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.50, Z:1.72 [[ 9.21688475e-01 3.26001692e-01 2.10269473e-01 -4.58636214e+00] [-3.17345207e-01 9.45366895e-01 -7.46555692e-02 2.49968880e+00] [-2.23119640e-01 2.08116828e-03 9.74788846e-01 1.72174430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29483917299999 meters Centerline goodness : 0.738093 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.50, Z:1.72 [[ 9.21688475e-01 3.26001692e-01 2.10269473e-01 -4.58636214e+00] [-3.17345207e-01 9.45366895e-01 -7.46555692e-02 2.49968880e+00] [-2.23119640e-01 2.08116828e-03 9.74788846e-01 1.72174430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324839172999994 meters Centerline goodness : 0.739587 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.51, Z:1.73 [[ 0.92116527 0.32698576 0.21103283 -4.58322219] [-0.32050178 0.94499913 -0.06523229 2.50547914] [-0.22075587 -0.00754668 0.9752999 1.72915446] [ 0. 0. 0. 1. ]] SLAMing on 54.354839172999995 meters Centerline goodness : 0.746261 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.74 [[ 0.91933411 0.32992281 0.21441954 -4.58689003] [-0.32559039 0.94383479 -0.05627413 2.50876815] [-0.22094274 -0.01807821 0.97511922 1.73815177] [ 0. 0. 0. 1. ]] SLAMing on 54.384839172999996 meters Centerline goodness : 0.746748 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.74 [[ 0.91857904 0.33124043 0.2156208 -4.58764439] [-0.32789664 0.94327156 -0.05217816 2.50917144] [-0.22067249 -0.02277157 0.9750821 1.74104197] [ 0. 0. 0. 1. ]] SLAMing on 54.414839173 meters Centerline goodness : 0.748728 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.74 [[ 0.9183231 0.33158587 0.21617931 -4.58916243] [-0.32835896 0.94313358 -0.0517633 2.51033111] [-0.22104995 -0.02344898 0.97498055 1.74396602] [ 0. 0. 0. 1. ]] SLAMing on 54.44483917299999 meters Centerline goodness : 0.748784 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.75 [[ 0.91790522 0.33240054 0.21670231 -4.59063129] [-0.32893697 0.9428658 -0.05295807 2.51194559] [-0.22192449 -0.02267091 0.97480026 1.74510639] [ 0. 0. 0. 1. ]] SLAMing on 54.47483917299999 meters Centerline goodness : 0.750296 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.75 [[ 0.91670331 0.33511227 0.2176116 -4.58953742] [-0.33241663 0.9418057 -0.05001209 2.515612 ] [-0.22170751 -0.02649147 0.97475329 1.74581073] [ 0. 0. 0. 1. ]] SLAMing on 54.50483917299999 meters Centerline goodness : 0.748920 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.75 [[ 0.91669321 0.33544645 0.21713875 -4.58854933] [-0.33243487 0.94172536 -0.05138486 2.51986421] [-0.22172193 -0.02508034 0.97478734 1.74731451] [ 0. 0. 0. 1. ]] SLAMing on 54.534839172999995 meters Centerline goodness : 0.748176 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.75 [[ 0.91690496 0.33527338 0.2165111 -4.58919684] [-0.33084257 0.94193144 -0.05751829 2.52305409] [-0.22322296 -0.01889228 0.97458432 1.74544046] [ 0. 0. 0. 1. ]] SLAMing on 54.564839172999996 meters Centerline goodness : 0.749486 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.74 [[ 0.91656123 0.33581353 0.21712849 -4.59035633] [-0.33137934 0.9417346 -0.05765139 2.52274284] [-0.22383753 -0.01911086 0.97443909 1.74483029] [ 0. 0. 0. 1. ]] SLAMing on 54.594839173 meters Centerline goodness : 0.750804 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.75 [[ 0.91701361 0.33496611 0.21652656 -4.58960332] [-0.33054858 0.94204034 -0.057425 2.52457948] [-0.22321218 -0.01891304 0.97458638 1.74793057] [ 0. 0. 0. 1. ]] SLAMing on 54.624839173 meters Centerline goodness : 0.752858 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.53, Z:1.74 [[ 0.91792931 0.32584032 0.22634898 -4.58615421] [-0.32179585 0.94517388 -0.0556217 2.52841748] [-0.23206293 -0.02178138 0.97245687 1.74276366] [ 0. 0. 0. 1. ]] SLAMing on 54.65483917299999 meters Centerline goodness : 0.752668 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.53, Z:1.75 [[ 0.91877483 0.32412849 0.2253742 -4.58713672] [-0.31912615 0.94585292 -0.05933599 2.52928851] [-0.23240333 -0.01740638 0.97246373 1.74552615] [ 0. 0. 0. 1. ]] SLAMing on 54.68483917299999 meters Centerline goodness : 0.752583 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.53, Z:1.75 [[ 0.92010309 0.32121842 0.22411833 -4.5876896 ] [-0.31534051 0.94691434 -0.06255871 2.5276345 ] [-0.23231587 -0.01311313 0.972552 1.74699223] [ 0. 0. 0. 1. ]] SLAMing on 54.714839172999994 meters Centerline goodness : 0.751782 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.53, Z:1.75 [[ 0.92173198 0.31800446 0.22199845 -4.58552537] [-0.31131641 0.94804866 -0.06546626 2.52729221] [-0.23128389 -0.00876942 0.97284678 1.74671256] [ 0. 0. 0. 1. ]] SLAMing on 54.744839172999995 meters Centerline goodness : 0.747088 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.53, Z:1.74 [[ 9.24250049e-01 3.13605533e-01 2.17746221e-01 -4.57978151e+00] [-3.04686753e-01 9.49550511e-01 -7.42954236e-02 2.52895994e+00] [-2.30060492e-01 2.32315983e-03 9.73173558e-01 1.74015379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774839173 meters Centerline goodness : 0.744660 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.53, Z:1.74 [[ 0.92511526 0.31222688 0.21604658 -4.57743166] [-0.30214207 0.94997465 -0.07910971 2.52968517] [-0.22993895 0.00790884 0.97317292 1.73587556] [ 0. 0. 0. 1. ]] SLAMing on 54.804839173 meters Centerline goodness : 0.745804 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.53, Z:1.73 [[ 0.92586782 0.31024104 0.21568326 -4.57906523] [-0.29920349 0.95057906 -0.08292601 2.52724681] [-0.23075104 0.01224534 0.97293577 1.73369969] [ 0. 0. 0. 1. ]] SLAMing on 54.83483917299999 meters Centerline goodness : 0.741792 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.53, Z:1.74 [[ 0.92693541 0.30780188 0.21458972 -4.58002092] [-0.29579681 0.95129884 -0.08680302 2.52725904] [-0.23085709 0.01698584 0.97283939 1.73625706] [ 0. 0. 0. 1. ]] SLAMing on 54.86483917299999 meters Centerline goodness : 0.746462 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.74 [[ 0.92692704 0.30733552 0.21529314 -4.58312172] [-0.29562465 0.95147383 -0.08546124 2.5213883 ] [-0.23111106 0.01557038 0.97280278 1.73841569] [ 0. 0. 0. 1. ]] SLAMing on 54.894839172999994 meters Centerline goodness : 0.747960 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.74 [[ 0.92685302 0.30731982 0.21563395 -4.58340477] [-0.29637465 0.95152694 -0.08221037 2.52074387] [-0.23044639 0.01228849 0.97300743 1.74175013] [ 0. 0. 0. 1. ]] SLAMing on 54.924839172999995 meters Centerline goodness : 0.748368 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.74 [[ 0.92591967 0.30930366 0.21680407 -4.58429216] [-0.29935461 0.95093388 -0.07817658 2.52098289] [-0.23034664 0.00748393 0.97307986 1.74486382] [ 0. 0. 0. 1. ]] SLAMing on 54.954839172999996 meters Centerline goodness : 0.746422 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.74 [[ 0.92621224 0.31584552 0.20584583 -4.58539023] [-0.30608465 0.94876086 -0.07851757 2.5158371 ] [-0.22009789 0.00971768 0.97542939 1.74238127] [ 0. 0. 0. 1. ]] SLAMing on 54.984839173 meters Centerline goodness : 0.745778 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.74 [[ 0.9254472 0.31770142 0.20642987 -4.58559842] [-0.30766014 0.9481331 -0.07993038 2.5164318 ] [-0.22111699 0.01046111 0.97519118 1.73821898] [ 0. 0. 0. 1. ]] SLAMing on 55.01483917299999 meters Centerline goodness : 0.746144 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.73 [[ 0.92370686 0.32217965 0.20728219 -4.58394997] [-0.3125246 0.94664562 -0.0786794 2.51896354] [-0.22157168 0.00789592 0.97511212 1.73381119] [ 0. 0. 0. 1. ]] SLAMing on 55.04483917299999 meters Centerline goodness : 0.744033 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.73 [[ 0.92387741 0.32222294 0.20645316 -4.58166132] [-0.31242478 0.94662286 -0.07934681 2.52204645] [-0.22100064 0.00880564 0.97523391 1.73344619] [ 0. 0. 0. 1. ]] SLAMing on 55.074839172999994 meters Centerline goodness : 0.746253 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.74 [[ 0.92459622 0.3207599 0.20551136 -4.57948857] [-0.31142303 0.94713195 -0.0771801 2.520899 ] [-0.21940266 0.00735946 0.97560664 1.73504877] [ 0. 0. 0. 1. ]] SLAMing on 55.104839172999995 meters Centerline goodness : 0.748268 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.52, Z:1.74 [[ 0.92543156 0.31863105 0.20506266 -4.57968088] [-0.30968283 0.94785908 -0.075231 2.51774637] [-0.21834143 0.00611675 0.97585327 1.73854068] [ 0. 0. 0. 1. ]] SLAMing on 55.134839172999996 meters Centerline goodness : 0.748279 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.51, Z:1.74 [[ 0.92816524 0.31213315 0.2026874 -4.58112943] [-0.30189218 0.94994293 -0.08043349 2.51276074] [-0.21764742 0.01346582 0.97593456 1.74242143] [ 0. 0. 0. 1. ]] SLAMing on 55.164839173 meters Centerline goodness : 0.746631 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.51, Z:1.74 [[ 0.92940938 0.30926371 0.20138064 -4.58102145] [-0.29856143 0.95083552 -0.08229754 2.50905369] [-0.21693151 0.01636361 0.97604967 1.7428357 ] [ 0. 0. 0. 1. ]] SLAMing on 55.19483917299999 meters Centerline goodness : 0.748753 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.50, Z:1.75 [[ 0.93229334 0.30194828 0.19913908 -4.58342131] [-0.28999116 0.95302839 -0.0874186 2.50404687] [-0.21618109 0.02375121 0.97606435 1.74913822] [ 0. 0. 0. 1. ]] SLAMing on 55.22483917299999 meters Centerline goodness : 0.751144 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.50, Z:1.76 [[ 0.93422976 0.29668024 0.19797874 -4.58598961] [-0.28464191 0.95464183 -0.08739537 2.49619223] [-0.21492727 0.02529431 0.97630245 1.75565316] [ 0. 0. 0. 1. ]] SLAMing on 55.25483917299999 meters Centerline goodness : 0.751262 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.76 [[ 0.93439021 0.29595889 0.19830095 -4.58764385] [-0.28422316 0.95490132 -0.08591084 2.49172953] [-0.21478392 0.02391252 0.97636881 1.75702745] [ 0. 0. 0. 1. ]] SLAMing on 55.284839172999995 meters Centerline goodness : 0.755603 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.76 [[ 0.93466823 0.29506435 0.19832381 -4.59015925] [-0.28282145 0.95511608 -0.08812093 2.48893848] [-0.21542361 0.02627361 0.97616718 1.75856387] [ 0. 0. 0. 1. ]] SLAMing on 55.314839172999996 meters Centerline goodness : 0.756006 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.76 [[ 0.93462693 0.29511706 0.19843995 -4.59091561] [-0.28310137 0.95512845 -0.08708193 2.48598501] [-0.215235 0.02521049 0.97623682 1.75942844] [ 0. 0. 0. 1. ]] SLAMing on 55.344839173 meters Centerline goodness : 0.759976 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.48, Z:1.76 [[ 0.93464994 0.29443228 0.19934675 -4.5946324 ] [-0.28289025 0.95539961 -0.0847625 2.47846594] [-0.21541262 0.02283002 0.97625621 1.76252378] [ 0. 0. 0. 1. ]] SLAMing on 55.374839173 meters Centerline goodness : 0.755943 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.47, Z:1.77 [[ 0.93626738 0.29729256 0.18713774 -4.59618287] [-0.28633565 0.95446414 -0.08372634 2.46828086] [-0.20350748 0.02480603 0.97875909 1.76774765] [ 0. 0. 0. 1. ]] SLAMing on 55.40483917299999 meters Centerline goodness : 0.760345 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.78 [[ 0.9374721 0.2991117 0.17798384 -4.60392329] [-0.28607401 0.95343654 -0.09550095 2.46136415] [-0.19826175 0.03861293 0.97938824 1.77789906] [ 0. 0. 0. 1. ]] SLAMing on 55.43483917299999 meters Centerline goodness : 0.759800 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.78 [[ 0.93744891 0.2991263 0.17808145 -4.60419494] [-0.28626363 0.95346765 -0.0946181 2.45914477] [-0.19809766 0.03772139 0.97945618 1.77779455] [ 0. 0. 0. 1. ]] SLAMing on 55.464839172999994 meters Centerline goodness : 0.758532 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.46, Z:1.78 [[ 0.93704398 0.30042883 0.17801996 -4.60276891] [-0.28787656 0.95312127 -0.09320366 2.4580537 ] [-0.19767568 0.03608816 0.97960297 1.7760463 ] [ 0. 0. 0. 1. ]] SLAMing on 55.494839172999995 meters Centerline goodness : 0.758936 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.45, Z:1.77 [[ 0.93568305 0.30380884 0.17943638 -4.60286504] [-0.29222625 0.95225031 -0.08844866 2.45464273] [-0.19773983 0.03032389 0.97978539 1.77387125] [ 0. 0. 0. 1. ]] SLAMing on 55.524839173 meters Centerline goodness : 0.753781 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.45, Z:1.77 [[ 0.93523886 0.30497574 0.17977228 -4.60288864] [-0.29334294 0.9518791 -0.08874737 2.45246736] [-0.19818727 0.03026506 0.97969681 1.7700064 ] [ 0. 0. 0. 1. ]] SLAMing on 55.554839173 meters Centerline goodness : 0.750340 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.45, Z:1.77 [[ 0.93637363 0.30281563 0.17750245 -4.5994263 ] [-0.29044902 0.95240133 -0.09258012 2.45215482] [-0.19708828 0.03513417 0.97975599 1.76607479] [ 0. 0. 0. 1. ]] SLAMing on 55.58483917299999 meters Centerline goodness : 0.746772 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.93868152 0.30313022 0.16428352 -4.59975648] [-0.29100887 0.95209112 -0.09400176 2.43916826] [-0.18490766 0.04042976 0.98192392 1.76271846] [ 0. 0. 0. 1. ]] SLAMing on 55.61483917299999 meters Centerline goodness : 0.745692 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.938782 0.30290575 0.16412333 -4.5991935 ] [-0.29069035 0.95213711 -0.09452005 2.43914679] [-0.18489858 0.04102465 0.98190096 1.76127753] [ 0. 0. 0. 1. ]] SLAMing on 55.644839172999994 meters Centerline goodness : 0.743350 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.93755515 0.30637774 0.16469067 -4.59700911] [-0.29469751 0.95116903 -0.09181973 2.44104507] [-0.18478019 0.03755213 0.98206218 1.75834929] [ 0. 0. 0. 1. ]] SLAMing on 55.674839172999995 meters Centerline goodness : 0.742831 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.75 [[ 0.93310015 0.31768526 0.16852355 -4.59930037] [-0.30695138 0.94773797 -0.0870264 2.44342963] [-0.18736318 0.02947581 0.98184837 1.7537069 ] [ 0. 0. 0. 1. ]] SLAMing on 55.704839172999996 meters Centerline goodness : 0.746287 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.75 [[ 0.93025991 0.32452908 0.17116475 -4.60218081] [-0.3144163 0.94556343 -0.08397726 2.44405865] [-0.18910019 0.02430369 0.98165699 1.75276968] [ 0. 0. 0. 1. ]] SLAMing on 55.734839173 meters Centerline goodness : 0.750997 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.45, Z:1.76 [[ 0.92551148 0.33544968 0.17578968 -4.60770305] [-0.32666635 0.94194802 -0.07760807 2.44528824] [-0.19161834 0.01440259 0.98136384 1.75519579] [ 0. 0. 0. 1. ]] SLAMing on 55.76483917299999 meters Centerline goodness : 0.754426 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.44, Z:1.76 [[ 0.92397865 0.33879146 0.17743675 -4.60870425] [-0.33092568 0.94081997 -0.07311628 2.44436097] [-0.19170721 0.00883951 0.98141235 1.75647211] [ 0. 0. 0. 1. ]] SLAMing on 55.79483917299999 meters Centerline goodness : 0.752370 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.45, Z:1.76 [[ 0.92363607 0.33988801 0.177123 -4.60741316] [-0.33216147 0.94043062 -0.07251898 2.44509542] [-0.19122022 0.00814771 0.98151334 1.75611479] [ 0. 0. 0. 1. ]] SLAMing on 55.824839172999994 meters Centerline goodness : 0.750602 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.92513136 0.34270627 0.16335354 -4.60338616] [-0.33600578 0.93940914 -0.06790126 2.43829429] [-0.176726 0.00792985 0.98422814 1.76221566] [ 0. 0. 0. 1. ]] SLAMing on 55.854839172999995 meters Centerline goodness : 0.744540 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.92815215 0.33625886 0.15957309 -4.59886058] [-0.32835019 0.94162248 -0.07438583 2.43810854] [-0.1752705 0.01664551 0.98437959 1.75834118] [ 0. 0. 0. 1. ]] SLAMing on 55.884839172999996 meters Centerline goodness : 0.742824 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.92992644 0.33224992 0.15762868 -4.59718495] [-0.32372762 0.94295184 -0.077732 2.43759138] [-0.17446271 0.02125629 0.98443432 1.75783016] [ 0. 0. 0. 1. ]] SLAMing on 55.914839173 meters Centerline goodness : 0.744960 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93295473 0.32498627 0.15485281 -4.59354835] [-0.31627901 0.94540537 -0.07858921 2.43416785] [-0.17193909 0.02434348 0.98480675 1.75904808] [ 0. 0. 0. 1. ]] SLAMing on 55.94483917299999 meters Centerline goodness : 0.740984 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93445671 0.32122094 0.15364821 -4.5910081 ] [-0.31276746 0.9467024 -0.07701349 2.43222096] [-0.17019747 0.02390961 0.98511987 1.76062185] [ 0. 0. 0. 1. ]] SLAMing on 55.97483917299999 meters Centerline goodness : 0.740497 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93566613 0.31839179 0.1521695 -4.58760237] [-0.31008346 0.94765326 -0.07616789 2.43263898] [-0.16845515 0.02408247 0.98541509 1.76161923] [ 0. 0. 0. 1. ]] SLAMing on 56.00483917299999 meters Centerline goodness : 0.738312 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93577635 0.31820161 0.15188929 -4.58637134] [-0.30982981 0.94770413 -0.07656611 2.43324102] [-0.16830956 0.02458892 0.98542746 1.75982342] [ 0. 0. 0. 1. ]] SLAMing on 56.034839172999995 meters Centerline goodness : 0.738014 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93585661 0.31791494 0.15199504 -4.58923498] [-0.30889339 0.94769931 -0.08031739 2.43266563] [-0.16957969 0.02821529 0.98511249 1.75960689] [ 0. 0. 0. 1. ]] SLAMing on 56.064839172999996 meters Centerline goodness : 0.742247 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.76 [[ 0.93581949 0.31781593 0.15243005 -4.5909019 ] [-0.30902937 0.94777625 -0.07887348 2.42969311] [-0.16953683 0.02670598 0.98516194 1.76156228] [ 0. 0. 0. 1. ]] SLAMing on 56.094839173 meters Centerline goodness : 0.747973 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.77 [[ 0.93550256 0.31813944 0.15369536 -4.59489267] [-0.30963645 0.94772731 -0.07705988 2.4265167 ] [-0.17017708 0.02450003 0.98510888 1.76598413] [ 0. 0. 0. 1. ]] SLAMing on 56.124839173 meters Centerline goodness : 0.750155 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.43, Z:1.77 [[ 0.93224424 0.32632358 0.1563125 -4.59189629] [-0.31968113 0.9451802 -0.06662101 2.43119029] [-0.16948349 0.01213689 0.98545829 1.76641098] [ 0. 0. 0. 1. ]] SLAMing on 56.15483917299999 meters Centerline goodness : 0.750032 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.76 [[ 0.93086185 0.32453996 0.16783933 -4.59039216] [-0.31710183 0.94579513 -0.07012848 2.44205469] [-0.18150112 0.01205777 0.98331681 1.76014081] [ 0. 0. 0. 1. ]] SLAMing on 56.18483917299999 meters Centerline goodness : 0.750032 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.76 [[ 0.93086185 0.32453996 0.16783933 -4.59039216] [-0.31710183 0.94579513 -0.07012848 2.44205469] [-0.18150112 0.01205777 0.98331681 1.76014081] [ 0. 0. 0. 1. ]] SLAMing on 56.214839172999994 meters Centerline goodness : 0.751387 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.45, Z:1.76 [[ 0.9285847 0.32989623 0.16999687 -4.5949233 ] [-0.32207826 0.94393362 -0.07249077 2.44510674] [-0.1843802 0.01256153 0.98277472 1.75939475] [ 0. 0. 0. 1. ]] SLAMing on 56.244839172999995 meters Centerline goodness : 0.722439 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.92843978 0.33000303 0.1705801 -4.59694729] [-0.32226201 0.94390457 -0.07205117 2.44297645] [-0.18478844 0.01192368 0.98270599 1.76058886] [ 0. 0. 0. 1. ]] SLAMing on 56.274839173 meters Centerline goodness : 0.738983 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.77 [[ 0.93034735 0.32500331 0.16978415 -4.59750466] [-0.317511 0.94564264 -0.07033323 2.4400769 ] [-0.18341367 0.011526 0.98296825 1.76652713] [ 0. 0. 0. 1. ]] SLAMing on 56.304839173 meters Centerline goodness : 0.730976 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.77 [[ 0.93227126 0.32051498 0.16775114 -4.59619078] [-0.31246448 0.94711282 -0.07309756 2.44055645] [-0.18230812 0.01573048 0.98311561 1.76938889] [ 0. 0. 0. 1. ]] SLAMing on 56.33483917299999 meters Centerline goodness : 0.737280 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.77 [[ 0.93460519 0.31516874 0.16486904 -4.59199141] [-0.30676068 0.94883737 -0.07487007 2.44034934] [-0.18003061 0.01939861 0.98346971 1.76967856] [ 0. 0. 0. 1. ]] SLAMing on 56.36483917299999 meters Centerline goodness : 0.728460 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.77 [[ 0.93503188 0.31434368 0.16402265 -4.58994901] [-0.30588364 0.94909591 -0.07518073 2.44074515] [-0.17930581 0.02012454 0.98358753 1.76850702] [ 0. 0. 0. 1. ]] SLAMing on 56.394839172999994 meters Centerline goodness : 0.753274 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.77 [[ 0.93455802 0.3157187 0.1640823 -4.58957248] [-0.30696009 0.94860874 -0.07692179 2.4421348 ] [-0.17993555 0.02152115 0.98344295 1.76551521] [ 0. 0. 0. 1. ]] SLAMing on 56.424839172999995 meters Centerline goodness : 0.738240 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.44, Z:1.76 [[ 0.93439207 0.31634403 0.16382283 -4.58838662] [-0.30735883 0.94837153 -0.07824319 2.44480036] [-0.18011667 0.02275743 0.98338196 1.76376286] [ 0. 0. 0. 1. ]] SLAMing on 56.454839172999996 meters Centerline goodness : 0.709658 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.45, Z:1.76 [[ 0.93353839 0.31867502 0.16417156 -4.58607424] [-0.31018108 0.94765819 -0.07570766 2.44870106] [-0.17970466 0.0197531 0.98352227 1.76343112] [ 0. 0. 0. 1. ]] SLAMing on 56.484839173 meters Centerline goodness : 0.737894 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.45, Z:1.76 [[ 0.93364535 0.31842068 0.16405679 -4.58590775] [-0.30985411 0.94773396 -0.07609708 2.44956998] [-0.17971307 0.02021401 0.98351137 1.76357773] [ 0. 0. 0. 1. ]] SLAMing on 56.51483917299999 meters Centerline goodness : 0.707527 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.76 [[ 0.93520421 0.31473779 0.16227511 -4.58480016] [-0.30539551 0.94883555 -0.08027877 2.44958333] [-0.17923916 0.02551895 0.98347451 1.7628175 ] [ 0. 0. 0. 1. ]] SLAMing on 56.54483917299999 meters Centerline goodness : 0.748724 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.76 [[ 0.93673566 0.31122157 0.16021061 -4.58035794] [-0.30210483 0.94999109 -0.07905441 2.44939643] [-0.17680209 0.02565269 0.98391207 1.76339752] [ 0. 0. 0. 1. ]] SLAMing on 56.574839172999994 meters Centerline goodness : 0.749615 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.76 [[ 0.93717836 0.31037057 0.15926971 -4.57758034] [-0.30138713 0.95027476 -0.07838165 2.45200826] [-0.17567734 0.02545574 0.98411863 1.76418462] [ 0. 0. 0. 1. ]] SLAMing on 56.604839172999995 meters Centerline goodness : 0.745600 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.76 [[ 0.93647083 0.31241703 0.15943016 -4.57510548] [-0.30401562 0.94969019 -0.0752532 2.45293653] [-0.17491964 0.02200317 0.98433682 1.76288481] [ 0. 0. 0. 1. ]] SLAMing on 56.634839172999996 meters Centerline goodness : 0.699008 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.46, Z:1.76 [[ 0.93592639 0.31469264 0.15814654 -4.56930265] [-0.30580105 0.94886475 -0.07836708 2.46231106] [-0.17472122 0.02498444 0.98430091 1.75714192] [ 0. 0. 0. 1. ]] SLAMing on 56.664839173 meters Centerline goodness : 0.738577 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.47, Z:1.75 [[ 0.93555771 0.31601506 0.1576904 -4.56707014] [-0.30688803 0.94838892 -0.07986359 2.46531523] [-0.17478992 0.0263237 0.9842538 1.75398956] [ 0. 0. 0. 1. ]] SLAMing on 56.69483917299999 meters Centerline goodness : 0.734079 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.75 [[ 0.93491531 0.31811106 0.15728544 -4.56466539] [-0.30828806 0.94757736 -0.08399769 2.47410345] [-0.17576072 0.0300415 0.98397443 1.75046905] [ 0. 0. 0. 1. ]] SLAMing on 56.72483917299999 meters Centerline goodness : 0.736199 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.75 [[ 0.93495589 0.31821697 0.15682935 -4.56386937] [-0.30838961 0.9475344 -0.08410954 2.47444395] [-0.17536628 0.03027417 0.98403767 1.75059752] [ 0. 0. 0. 1. ]] SLAMing on 56.75483917299999 meters Centerline goodness : 0.733308 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.75 [[ 0.93521116 0.31743805 0.15688586 -4.56418158] [-0.30767688 0.94780504 -0.08366926 2.47324608] [-0.17525701 0.02997827 0.9840662 1.75057787] [ 0. 0. 0. 1. ]] SLAMing on 56.784839172999995 meters Centerline goodness : 0.735219 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.75 [[ 0.93659479 0.31413733 0.15526728 -4.56092577] [-0.3046981 0.94892285 -0.08188098 2.47337231] [-0.17305854 0.02937966 0.98447325 1.75337503] [ 0. 0. 0. 1. ]] SLAMing on 56.814839172999996 meters Centerline goodness : 0.736987 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.76 [[ 0.93731204 0.31244435 0.1543524 -4.55946957] [-0.30320807 0.94949668 -0.08075218 2.47444696] [-0.17178765 0.0288891 0.98471032 1.75682024] [ 0. 0. 0. 1. ]] SLAMing on 56.844839173 meters Centerline goodness : 0.728087 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.76 [[ 0.93654606 0.31409547 0.15564546 -4.56032639] [-0.30579071 0.94911378 -0.0753331 2.47175966] [-0.17138704 0.02295798 0.98493625 1.7589924 ] [ 0. 0. 0. 1. ]] SLAMing on 56.874839173 meters Centerline goodness : 0.710986 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.76 [[ 0.93500145 0.31751442 0.1579775 -4.56405497] [-0.30977274 0.94807355 -0.07209294 2.47361195] [-0.17266483 0.01846988 0.98480745 1.763791 ] [ 0. 0. 0. 1. ]] SLAMing on 56.90483917299999 meters Centerline goodness : 0.698093 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.48, Z:1.76 [[ 0.93386264 0.32043302 0.15881831 -4.56532838] [-0.31228793 0.94706011 -0.07452106 2.4767929 ] [-0.1742895 0.01999539 0.98449142 1.76167861] [ 0. 0. 0. 1. ]] SLAMing on 56.93483917299999 meters Centerline goodness : 0.746068 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.47, Z:1.76 [[ 0.93220275 0.32410725 0.16109787 -4.56775308] [-0.31679496 0.94591487 -0.06989998 2.47387694] [-0.17503996 0.01412596 0.98445999 1.76155405] [ 0. 0. 0. 1. ]] SLAMing on 56.964839172999994 meters Centerline goodness : 0.741292 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.48, Z:1.76 [[ 0.93061364 0.32149955 0.17491796 -4.5749006 ] [-0.31361141 0.9468344 -0.07178097 2.47958813] [-0.18869589 0.01194408 0.98196293 1.76365261] [ 0. 0. 0. 1. ]] SLAMing on 56.994839172999995 meters Centerline goodness : 0.747501 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.48, Z:1.77 [[ 0.93073074 0.32119112 0.17486152 -4.57538955] [-0.31344034 0.94694684 -0.0710411 2.47870141] [-0.18840233 0.01131148 0.98202679 1.76588754] [ 0. 0. 0. 1. ]] SLAMing on 57.024839173 meters Centerline goodness : 0.691336 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.48, Z:1.76 [[ 0.93317319 0.31593352 0.17138791 -4.5715275 ] [-0.30672516 0.94855594 -0.07849399 2.4797811 ] [-0.1873699 0.0206795 0.98207173 1.76207993] [ 0. 0. 0. 1. ]] SLAMing on 57.054839173 meters Centerline goodness : 0.741137 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.48, Z:1.76 [[ 0.93396714 0.31408686 0.17045478 -4.57175637] [-0.30410766 0.94905961 -0.08248868 2.47938391] [-0.18768036 0.02520511 0.98190671 1.76064451] [ 0. 0. 0. 1. ]] SLAMing on 57.08483917299999 meters Centerline goodness : 0.701356 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.47, Z:1.76 [[ 0.93231151 0.31693981 0.17419648 -4.58131081] [-0.30714454 0.94818354 -0.08130316 2.47297076] [-0.19093845 0.02229637 0.98134876 1.76380962] [ 0. 0. 0. 1. ]] SLAMing on 57.11483917299999 meters Centerline goodness : 0.703899 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.47, Z:1.76 [[ 0.93178727 0.31806188 0.17495465 -4.5829144 ] [-0.30863568 0.94785886 -0.07942041 2.46851011] [-0.19109292 0.02000567 0.98136806 1.76375564] [ 0. 0. 0. 1. ]] SLAMing on 57.144839172999994 meters Centerline goodness : 0.752341 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.46, Z:1.76 [[ 0.93204737 0.31686779 0.17573416 -4.58805895] [-0.30693595 0.94820717 -0.08181371 2.46196133] [-0.19255652 0.02231512 0.98103212 1.76410248] [ 0. 0. 0. 1. ]] SLAMing on 57.174839172999995 meters Centerline goodness : 0.712893 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.46, Z:1.77 [[ 0.93314848 0.31422681 0.17462942 -4.58833691] [-0.30380908 0.94900495 -0.08420009 2.46004853] [-0.19218211 0.02551718 0.98102748 1.76518917] [ 0. 0. 0. 1. ]] SLAMing on 57.204839172999996 meters Centerline goodness : 0.712184 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.46, Z:1.77 [[ 0.93505106 0.30957038 0.17275908 -4.58885982] [-0.29808343 0.95032988 -0.08955104 2.45691883] [-0.19190047 0.03223818 0.98088476 1.76527032] [ 0. 0. 0. 1. ]] SLAMing on 57.234839173 meters Centerline goodness : 0.748802 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.45, Z:1.76 [[ 0.9361575 0.30694443 0.17144751 -4.58840113] [-0.29498989 0.95106448 -0.09196371 2.4542077 ] [-0.19128539 0.03551723 0.98089165 1.76481459] [ 0. 0. 0. 1. ]] SLAMing on 57.26483917299999 meters Centerline goodness : 0.747353 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.45, Z:1.76 [[ 0.93751091 0.30310507 0.17088186 -4.59360691] [-0.28972715 0.95197083 -0.09904396 2.44716746] [-0.19269528 0.04334568 0.98030081 1.76406762] [ 0. 0. 0. 1. ]] SLAMing on 57.29483917299999 meters Centerline goodness : 0.733542 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.76 [[ 0.93867849 0.299569 0.17070767 -4.59609483] [-0.28601613 0.95302412 -0.0996985 2.43961647] [-0.19255511 0.04475969 0.98026481 1.76496775] [ 0. 0. 0. 1. ]] SLAMing on 57.324839172999994 meters Centerline goodness : 0.750012 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.44, Z:1.77 [[ 0.93928266 0.29791449 0.17027932 -4.59538857] [-0.28480555 0.95362399 -0.0974017 2.43605516] [-0.19139983 0.04299123 0.98057017 1.76684305] [ 0. 0. 0. 1. ]] SLAMing on 57.354839172999995 meters Centerline goodness : 0.737378 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.43, Z:1.77 [[ 0.93992662 0.29565535 0.17066303 -4.59709306] [-0.28352367 0.95453081 -0.09211544 2.43032565] [-0.19013754 0.03819474 0.98101421 1.7745248 ] [ 0. 0. 0. 1. ]] SLAMing on 57.384839172999996 meters Centerline goodness : 0.756446 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.43, Z:1.78 [[ 0.94004209 0.2953264 0.17059657 -4.59686271] [-0.28355288 0.95470021 -0.09025114 2.42739553] [-0.18952212 0.03646673 0.98119903 1.77539684] [ 0. 0. 0. 1. ]] SLAMing on 57.414839173 meters Centerline goodness : 0.739015 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.42, Z:1.78 [[ 0.94050097 0.29969566 0.1601263 -4.59989728] [-0.28849186 0.95327085 -0.08970585 2.42003321] [-0.17952818 0.03817331 0.98301192 1.77820736] [ 0. 0. 0. 1. ]] SLAMing on 57.44483917299999 meters Centerline goodness : 0.732050 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.42, Z:1.77 [[ 0.94062312 0.29964739 0.15949794 -4.59783335] [-0.28849107 0.95328315 -0.08957761 2.41821505] [-0.1788884 0.03824504 0.98312576 1.77468352] [ 0. 0. 0. 1. ]] SLAMing on 57.47483917299999 meters Centerline goodness : 0.733654 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.42, Z:1.77 [[ 0.94089328 0.29917137 0.1587965 -4.59571115] [-0.28814866 0.95344471 -0.08895807 2.41715259] [-0.17801739 0.03794305 0.98329555 1.77317178] [ 0. 0. 0. 1. ]] SLAMing on 57.50483917299999 meters Centerline goodness : 0.753727 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.41, Z:1.78 [[ 0.94113995 0.29787458 0.15976964 -4.59873056] [-0.28712369 0.95392017 -0.08715672 2.4135966 ] [-0.17836925 0.03615302 0.98329923 1.77713961] [ 0. 0. 0. 1. ]] SLAMing on 57.534839172999995 meters Centerline goodness : 0.756421 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.41, Z:1.78 [[ 0.94328462 0.29150574 0.15886637 -4.59993576] [-0.28061207 0.95580952 -0.08766432 2.40721569] [-0.17740064 0.03811259 0.98340045 1.78127947] [ 0. 0. 0. 1. ]] SLAMing on 57.564839172999996 meters Centerline goodness : 0.755341 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.40, Z:1.78 [[ 0.94536018 0.28560241 0.1572431 -4.59858912] [-0.27441896 0.95746251 -0.08921756 2.4029442 ] [-0.17603512 0.04119224 0.98352165 1.78182245] [ 0. 0. 0. 1. ]] SLAMing on 57.594839173 meters Centerline goodness : 0.752320 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.40, Z:1.78 [[ 0.94950528 0.27399057 0.15286883 -4.59497579] [-0.26155937 0.96033821 -0.09662931 2.39670704] [-0.1732813 0.05176577 0.983511 1.78007336] [ 0. 0. 0. 1. ]] SLAMing on 57.62483917299999 meters Centerline goodness : 0.751314 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.39, Z:1.78 [[ 0.9509877 0.26980377 0.15109046 -4.59113385] [-0.25754479 0.9614936 -0.09592052 2.3946949 ] [-0.17115223 0.05230667 0.98385513 1.77999154] [ 0. 0. 0. 1. ]] SLAMing on 57.65483917299999 meters Centerline goodness : 0.748901 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.39, Z:1.78 [[ 0.95162167 0.26817155 0.1500007 -4.58808595] [-0.2561764 0.96198694 -0.09462963 2.39402976] [-0.16967569 0.05162497 0.98414685 1.77979486] [ 0. 0. 0. 1. ]] SLAMing on 57.68483917299999 meters Centerline goodness : 0.750650 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.39, Z:1.78 [[ 0.95166926 0.2681978 0.14965147 -4.58510023] [-0.25704862 0.96221691 -0.08980324 2.39497375] [-0.1680822 0.04699528 0.98465213 1.7822948 ] [ 0. 0. 0. 1. ]] SLAMing on 57.714839172999994 meters Centerline goodness : 0.753239 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.39, Z:1.78 [[ 0.95125535 0.26926077 0.15037253 -4.58683707] [-0.25808527 0.96193746 -0.08982378 2.39370128] [-0.16883499 0.04663642 0.9845404 1.78169187] [ 0. 0. 0. 1. ]] SLAMing on 57.744839172999995 meters Centerline goodness : 0.751760 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.39, Z:1.78 [[ 0.95109412 0.2697612 0.15049545 -4.58688941] [-0.25851894 0.96178475 -0.09021113 2.39387337] [-0.16907969 0.04689335 0.9844862 1.7807019 ] [ 0. 0. 0. 1. ]] SLAMing on 57.774839173 meters Centerline goodness : 0.751159 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.40, Z:1.78 [[ 0.95145916 0.26918242 0.14921895 -4.58313161] [-0.25788538 0.96189405 -0.09085685 2.39653673] [-0.16798988 0.04796519 0.98462111 1.77850502] [ 0. 0. 0. 1. ]] SLAMing on 57.804839173 meters Centerline goodness : 0.748990 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.40, Z:1.78 [[ 0.95130164 0.27002005 0.14870896 -4.57909679] [-0.25947105 0.96185606 -0.086647 2.39613489] [-0.16643304 0.04384176 0.98507763 1.77675638] [ 0. 0. 0. 1. ]] SLAMing on 57.83483917299999 meters Centerline goodness : 0.742769 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.40, Z:1.77 [[ 0.95087774 0.27191436 0.14796656 -4.57508121] [-0.26137049 0.9613153 -0.08693889 2.40086963] [-0.16588245 0.04399416 0.98516371 1.77294872] [ 0. 0. 0. 1. ]] SLAMing on 57.86483917299999 meters Centerline goodness : 0.745703 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.40, Z:1.77 [[ 0.94947981 0.27580663 0.14972904 -4.57665801] [-0.26571899 0.96037986 -0.08404727 2.40161121] [-0.16697755 0.04001534 0.98514835 1.77240637] [ 0. 0. 0. 1. ]] SLAMing on 57.894839172999994 meters Centerline goodness : 0.749199 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.41, Z:1.78 [[ 0.9467062 0.28342251 0.15303284 -4.57710222] [-0.27517893 0.95861369 -0.07305036 2.40569338] [-0.1674035 0.02704581 0.98551742 1.77682908] [ 0. 0. 0. 1. ]] SLAMing on 57.924839172999995 meters Centerline goodness : 0.747934 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.41, Z:1.78 [[ 0.94551864 0.28694096 0.15381608 -4.57498614] [-0.27992622 0.95775393 -0.06594481 2.41104653] [-0.16624022 0.0192949 0.98589649 1.78176411] [ 0. 0. 0. 1. ]] SLAMing on 57.954839172999996 meters Centerline goodness : 0.748936 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.41, Z:1.78 [[ 0.94584155 0.28603696 0.1535142 -4.57516596] [-0.27898418 0.95801549 -0.0661373 2.41262806] [-0.1659867 0.01972737 0.98593065 1.78445175] [ 0. 0. 0. 1. ]] SLAMing on 57.984839173 meters Centerline goodness : 0.747345 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.41, Z:1.79 [[ 0.94608896 0.28525389 0.15344673 -4.57586012] [-0.27817934 0.95824414 -0.06621495 2.41195314] [-0.1659275 0.01995952 0.98593594 1.78585266] [ 0. 0. 0. 1. ]] SLAMing on 58.01483917299999 meters Centerline goodness : 0.746116 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.42, Z:1.78 [[ 0.94658531 0.28452155 0.15173575 -4.57081228] [-0.2771997 0.95841327 -0.06785518 2.41572453] [-0.16473182 0.02216961 0.98608921 1.78173249] [ 0. 0. 0. 1. ]] SLAMing on 58.04483917299999 meters Centerline goodness : 0.741899 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.42, Z:1.78 [[ 0.94587357 0.28700568 0.15149563 -4.566767 ] [-0.28007235 0.95772519 -0.06574144 2.4212964 ] [-0.16395935 0.01975335 0.9862693 1.77980382] [ 0. 0. 0. 1. ]] SLAMing on 58.074839172999994 meters Centerline goodness : 0.747112 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.44, Z:1.78 [[ 0.94204436 0.29288357 0.1636204 -4.56072306] [-0.28652932 0.95608189 -0.06171199 2.44102133] [-0.17450893 0.01125339 0.98459128 1.7778653 ] [ 0. 0. 0. 1. ]] SLAMing on 58.104839172999995 meters Centerline goodness : 0.747112 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.44, Z:1.78 [[ 0.94204436 0.29288357 0.1636204 -4.56072306] [-0.28652932 0.95608189 -0.06171199 2.44102133] [-0.17450893 0.01125339 0.98459128 1.7778653 ] [ 0. 0. 0. 1. ]] SLAMing on 58.134839172999996 meters Centerline goodness : 0.751973 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.45, Z:1.78 [[ 9.39789310e-01 2.98716175e-01 1.66026203e-01 -4.56127907e+00] [-2.93575730e-01 9.54336625e-01 -5.52711143e-02 2.44602522e+00] [-1.74955262e-01 3.20193855e-03 9.84571178e-01 1.78081169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164839173 meters Centerline goodness : 0.753663 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.46, Z:1.78 [[ 9.37376523e-01 2.98910772e-01 1.78822829e-01 -4.56240887e+00] [-2.93207033e-01 9.54278803e-01 -5.81515511e-02 2.46023009e+00] [-1.88028960e-01 2.07778778e-03 9.82161287e-01 1.77900086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19483917299999 meters Centerline goodness : 0.750495 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.78 [[ 0.93881284 0.29564451 0.17670531 -4.55941336] [-0.28914287 0.95527099 -0.06207842 2.46584854] [-0.1871546 0.00718694 0.98230418 1.77923278] [ 0. 0. 0. 1. ]] SLAMing on 58.22483917299999 meters Centerline goodness : 0.752080 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.47, Z:1.78 [[ 0.93902336 0.29508827 0.17651639 -4.55953537] [-0.28846486 0.95543706 -0.0626742 2.46753003] [-0.18714473 0.00793376 0.98230031 1.78052924] [ 0. 0. 0. 1. ]] SLAMing on 58.25483917299999 meters Centerline goodness : 0.757738 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.48, Z:1.78 [[ 0.93853702 0.29000727 0.18720053 -4.55818609] [-0.28293927 0.95699786 -0.06403487 2.48327028] [-0.19772109 0.00713272 0.98023237 1.78300099] [ 0. 0. 0. 1. ]] SLAMing on 58.284839172999995 meters Centerline goodness : 0.760698 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.49, Z:1.79 [[ 0.93804728 0.29153281 0.18728569 -4.55682262] [-0.28481322 0.95654647 -0.06245227 2.49074957] [-0.19735435 0.00524174 0.98031821 1.78693412] [ 0. 0. 0. 1. ]] SLAMing on 58.314839172999996 meters Centerline goodness : 0.758999 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.50, Z:1.79 [[ 9.36286968e-01 2.96130533e-01 1.88874089e-01 -4.55506737e+00] [-2.90587614e-01 9.55146344e-01 -5.70464697e-02 2.49855807e+00] [-1.97295597e-01 -1.47260474e-03 9.80342939e-01 1.78788441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344839173 meters Centerline goodness : 0.761080 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.50, Z:1.79 [[ 9.35894546e-01 2.96817502e-01 1.89738685e-01 -4.55715672e+00] [-2.90842072e-01 9.54934183e-01 -5.92587124e-02 2.50334327e+00] [-1.98776979e-01 2.75913459e-04 9.80044711e-01 1.78963593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37483917299999 meters Centerline goodness : 0.759560 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.51, Z:1.79 [[ 0.93617644 0.29560366 0.19024234 -4.56129999] [-0.28769317 0.95526366 -0.06858553 2.51326789] [-0.20200573 0.00947673 0.97933849 1.79453897] [ 0. 0. 0. 1. ]] SLAMing on 58.40483917299999 meters Centerline goodness : 0.758837 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.52, Z:1.80 [[ 0.93657905 0.29463421 0.18976396 -4.56093636] [-0.28648412 0.95554802 -0.06967659 2.51583824] [-0.20185768 0.01089327 0.97935428 1.79599198] [ 0. 0. 0. 1. ]] SLAMing on 58.43483917299999 meters Centerline goodness : 0.753365 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.52, Z:1.79 [[ 0.93731884 0.29336043 0.18807724 -4.55566872] [-0.28499774 0.95591814 -0.07068803 2.51837673] [-0.20052352 0.01265564 0.97960714 1.79055129] [ 0. 0. 0. 1. ]] SLAMing on 58.464839172999994 meters Centerline goodness : 0.748247 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.52, Z:1.78 [[ 0.9372536 0.29383255 0.1876649 -4.55243309] [-0.28552072 0.95577511 -0.07051142 2.5181856 ] [-0.20008399 0.01250487 0.97969895 1.78459823] [ 0. 0. 0. 1. ]] SLAMing on 58.494839172999995 meters Centerline goodness : 0.746121 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.93646981 0.29668552 0.18708819 -4.54687075] [-0.28860004 0.9549085 -0.06971202 2.52603014] [-0.19933465 0.01128955 0.97986644 1.78039633] [ 0. 0. 0. 1. ]] SLAMing on 58.524839173 meters Centerline goodness : 0.748586 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.93573161 0.29854749 0.18781838 -4.54674702] [-0.29104168 0.95436094 -0.06700704 2.53002136] [-0.19925131 0.00803763 0.97991546 1.78308302] [ 0. 0. 0. 1. ]] SLAMing on 58.554839173 meters Centerline goodness : 0.755850 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.54, Z:1.79 [[ 0.93539383 0.29309587 0.19782113 -4.54556692] [-0.28514177 0.95605436 -0.06822191 2.54042981] [-0.20912332 0.00740728 0.97786122 1.78756417] [ 0. 0. 0. 1. ]] SLAMing on 58.58483917299999 meters Centerline goodness : 0.754702 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.54, Z:1.79 [[ 0.93532995 0.29295852 0.19832596 -4.54736987] [-0.28494409 0.95609549 -0.06847101 2.5403401 ] [-0.20967772 0.00753117 0.97774155 1.78902204] [ 0. 0. 0. 1. ]] SLAMing on 58.61483917299999 meters Centerline goodness : 0.751140 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.79 [[ 0.93559976 0.29163801 0.1989984 -4.55035123] [-0.28327085 0.95648574 -0.06994758 2.53398058] [-0.2107385 0.0090725 0.97750037 1.78664328] [ 0. 0. 0. 1. ]] SLAMing on 58.644839172999994 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.93628724 0.28990207 0.19830028 -4.55039952] [-0.28074631 0.95696653 -0.07346128 2.53075202] [-0.21106331 0.01310879 0.97738449 1.78313735] [ 0. 0. 0. 1. ]] SLAMing on 58.674839172999995 meters Centerline goodness : 0.750548 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.9369333 0.28856387 0.19719756 -4.55001628] [-0.27838377 0.95728528 -0.07814965 2.53322983] [-0.21132548 0.01832441 0.97724396 1.78357916] [ 0. 0. 0. 1. ]] SLAMing on 58.704839172999996 meters Centerline goodness : 0.750262 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.93634967 0.29017516 0.19760482 -4.55027259] [-0.27994297 0.95680045 -0.0785164 2.53256009] [-0.21185189 0.01820072 0.97713229 1.78189668] [ 0. 0. 0. 1. ]] SLAMing on 58.734839173 meters Centerline goodness : 0.749423 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.78 [[ 0.93570004 0.29204063 0.19793357 -4.5498193 ] [-0.28175851 0.95623533 -0.07890589 2.53235398] [-0.2123148 0.01806277 0.97703437 1.77915465] [ 0. 0. 0. 1. ]] SLAMing on 58.76483917299999 meters Centerline goodness : 0.751580 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.77 [[ 0.93290223 0.29949224 0.19999455 -4.54931689] [-0.28996741 0.9540109 -0.07604015 2.52961015] [-0.21357042 0.01294612 0.97684189 1.77151173] [ 0. 0. 0. 1. ]] SLAMing on 58.79483917299999 meters Centerline goodness : 0.753012 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.77 [[ 0.93118148 0.30390571 0.20135135 -4.54947091] [-0.29517203 0.95266533 -0.0728165 2.52950827] [-0.2139498 0.00837209 0.97680878 1.77084383] [ 0. 0. 0. 1. ]] SLAMing on 58.824839172999994 meters Centerline goodness : 0.757458 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.53, Z:1.77 [[ 9.27708730e-01 3.12482244e-01 2.04233591e-01 -4.55187460e+00] [-3.04764386e-01 9.49921877e-01 -6.90441668e-02 2.52859324e+00] [-2.15581032e-01 1.80975140e-03 9.76484277e-01 1.76998591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854839172999995 meters Centerline goodness : 0.757063 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.52, Z:1.77 [[ 9.25575595e-01 3.17599252e-01 2.06011003e-01 -4.55658088e+00] [-3.09460784e-01 9.48221982e-01 -7.14779419e-02 2.52333495e+00] [-2.18045503e-01 2.40591194e-03 9.75935638e-01 1.76684379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884839172999996 meters Centerline goodness : 0.757515 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.52, Z:1.77 [[ 9.25349350e-01 3.18333014e-01 2.05894808e-01 -4.55615560e+00] [-3.10389385e-01 9.47977761e-01 -7.06865929e-02 2.51977169e+00] [-2.17685576e-01 1.50222985e-03 9.76017794e-01 1.76509509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914839173 meters Centerline goodness : 0.753889 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.52, Z:1.76 [[ 0.92603217 0.31800468 0.20331611 -4.55154091] [-0.30951029 0.94807685 -0.07316874 2.51667925] [-0.2160273 0.00482818 0.97637539 1.76070579] [ 0. 0. 0. 1. ]] SLAMing on 58.94483917299999 meters Centerline goodness : 0.754356 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.51, Z:1.76 [[ 0.92581536 0.32609266 0.1911269 -4.54898433] [-0.31780981 0.94531041 -0.07338357 2.50804593] [-0.20460409 0.00719763 0.97881835 1.76386071] [ 0. 0. 0. 1. ]] SLAMing on 58.97483917299999 meters Centerline goodness : 0.754084 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.51, Z:1.76 [[ 0.92544089 0.32733079 0.19082375 -4.5478294 ] [-0.31893802 0.94487873 -0.07404541 2.50511298] [-0.20454265 0.0076637 0.97882765 1.75915177] [ 0. 0. 0. 1. ]] SLAMing on 59.00483917299999 meters Centerline goodness : 0.753804 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.50, Z:1.76 [[ 0.92509894 0.33533652 0.17816106 -4.54863564] [-0.32519869 0.94188629 -0.0842379 2.49739842] [-0.1960555 0.01999065 0.98038901 1.76013613] [ 0. 0. 0. 1. ]] SLAMing on 59.034839172999995 meters Centerline goodness : 0.754822 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.49, Z:1.76 [[ 0.92537523 0.33524457 0.17689476 -4.55021098] [-0.32386609 0.94175776 -0.09057086 2.49360018] [-0.1969554 0.02652182 0.98005365 1.75691156] [ 0. 0. 0. 1. ]] SLAMing on 59.064839172999996 meters Centerline goodness : 0.756451 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.49, Z:1.76 [[ 0.92534068 0.33543762 0.17670946 -4.54995422] [-0.32401376 0.94168111 -0.09083925 2.4917608 ] [-0.19687486 0.02680095 0.98006224 1.75533485] [ 0. 0. 0. 1. ]] SLAMing on 59.094839173 meters Centerline goodness : 0.756531 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.48, Z:1.75 [[ 0.92440808 0.33807901 0.17655677 -4.54546706] [-0.32757397 0.9408576 -0.08650011 2.48337408] [-0.19535865 0.022126 0.98048225 1.74708896] [ 0. 0. 0. 1. ]] SLAMing on 59.12483917299999 meters Centerline goodness : 0.757408 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.48, Z:1.74 [[ 0.92396018 0.33926345 0.17662925 -4.54357236] [-0.32927181 0.94048991 -0.08401674 2.47822667] [-0.19462183 0.01946909 0.98068512 1.74222481] [ 0. 0. 0. 1. ]] SLAMing on 59.15483917299999 meters Centerline goodness : 0.762333 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.47, Z:1.74 [[ 0.92365953 0.34010689 0.17657966 -4.542263 ] [-0.33054311 0.94022736 -0.0819376 2.47381891] [-0.19389257 0.01731526 0.98086995 1.73939532] [ 0. 0. 0. 1. ]] SLAMing on 59.18483917299999 meters Centerline goodness : 0.766093 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.47, Z:1.74 [[ 0.92368732 0.33989381 0.17684438 -4.5439517 ] [-0.33047853 0.94031893 -0.08114339 2.47038549] [-0.19387026 0.01650785 0.98088828 1.74001618] [ 0. 0. 0. 1. ]] SLAMing on 59.214839172999994 meters Centerline goodness : 0.768492 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.46, Z:1.73 [[ 0.9248596 0.33232996 0.1849095 -4.5411294 ] [-0.32377512 0.94310975 -0.07558885 2.45819792] [-0.1995104 0.01003998 0.97984427 1.73397298] [ 0. 0. 0. 1. ]] SLAMing on 59.244839172999995 meters Centerline goodness : 0.769861 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.45, Z:1.73 [[ 0.92575582 0.33050621 0.18368942 -4.53953659] [-0.32200968 0.94374588 -0.07518962 2.44869626] [-0.19820677 0.01045746 0.98010444 1.72745951] [ 0. 0. 0. 1. ]] SLAMing on 59.274839173 meters Centerline goodness : 0.766132 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.44, Z:1.72 [[ 0.92659545 0.32902691 0.18210482 -4.53705837] [-0.32014743 0.94422985 -0.07704287 2.44483996] [-0.19729799 0.01308718 0.98025621 1.72387022] [ 0. 0. 0. 1. ]] SLAMing on 59.304839173 meters Centerline goodness : 0.766354 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.44, Z:1.72 [[ 0.92697717 0.3280764 0.18187691 -4.53843339] [-0.31912897 0.94455301 -0.07730659 2.43993803] [-0.19715485 0.01361925 0.98027776 1.72344208] [ 0. 0. 0. 1. ]] SLAMing on 59.33483917299999 meters Centerline goodness : 0.771187 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.43, Z:1.72 [[ 0.92620257 0.32456955 0.19184213 -4.53431139] [-0.3168017 0.94584992 -0.07074327 2.43183203] [-0.20441498 0.00474669 0.97887281 1.72057105] [ 0. 0. 0. 1. ]] SLAMing on 59.36483917299999 meters Centerline goodness : 0.771612 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.43, Z:1.72 [[ 9.24972836e-01 3.27270961e-01 1.93181187e-01 -4.53530407e+00] [-3.20415677e-01 9.44930499e-01 -6.66344165e-02 2.43023719e+00] [-2.04350305e-01 -2.63255653e-04 9.78897790e-01 1.72196634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394839172999994 meters Centerline goodness : 0.773348 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.42, Z:1.72 [[ 9.25574871e-01 3.26772663e-01 1.91130283e-01 -4.53214483e+00] [-3.20404442e-01 9.45101265e-01 -6.42229884e-02 2.42159081e+00] [-2.01623790e-01 -1.79580752e-03 9.79461394e-01 1.72063897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424839172999995 meters Centerline goodness : 0.766930 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.41, Z:1.71 [[ 0.92883436 0.32003847 0.18666044 -4.52875404] [-0.31235172 0.94738044 -0.07004791 2.40744525] [-0.19925647 0.0067592 0.97992406 1.71371728] [ 0. 0. 0. 1. ]] SLAMing on 59.454839172999996 meters Centerline goodness : 0.757744 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.40, Z:1.71 [[ 0.92972538 0.31800255 0.18570165 -4.52852817] [-0.31018032 0.94805616 -0.07055274 2.39829822] [-0.19849154 0.00799368 0.98007 1.70929365] [ 0. 0. 0. 1. ]] SLAMing on 59.484839173 meters Centerline goodness : 0.745962 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.38, Z:1.71 [[ 0.93289975 0.31634582 0.17211443 -4.52106324] [-0.3097469 0.94861806 -0.06465784 2.38440458] [-0.18372509 0.00700737 0.98295269 1.70650601] [ 0. 0. 0. 1. ]] SLAMing on 59.51483917299999 meters Centerline goodness : 0.741234 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.38, Z:1.70 [[ 9.32425216e-01 3.17604286e-01 1.72368017e-01 -4.51992583e+00] [-3.11645836e-01 9.48217006e-01 -6.13301103e-02 2.37724815e+00] [-1.82920991e-01 3.46796660e-03 9.83121500e-01 1.70205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54483917299999 meters Centerline goodness : 0.747991 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.37, Z:1.70 [[ 9.32225893e-01 3.18043388e-01 1.72636290e-01 -4.52071904e+00] [-3.12586854e-01 9.48075882e-01 -5.86649926e-02 2.36975195e+00] [-1.82330316e-01 7.25190409e-04 9.83237067e-01 1.70012270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574839172999994 meters Centerline goodness : 0.742474 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.36, Z:1.71 [[ 9.35383472e-01 3.11454950e-01 1.67492011e-01 -4.51522723e+00] [-3.06532760e-01 9.50260887e-01 -5.51535528e-02 2.35542919e+00] [-1.76338954e-01 2.47933309e-04 9.84329473e-01 1.70560325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604839172999995 meters Centerline goodness : 0.742820 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.35, Z:1.70 [[ 9.36454817e-01 3.09418444e-01 1.65265248e-01 -4.51352519e+00] [-3.04487926e-01 9.50925211e-01 -5.50304066e-02 2.34663071e+00] [-1.74182314e-01 1.21221669e-03 9.84712675e-01 1.70425265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634839172999996 meters Centerline goodness : 0.734464 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.33, Z:1.70 [[ 0.93760761 0.30706735 0.16309999 -4.51228878] [-0.30350011 0.9516722 -0.0469862 2.33004614] [-0.16964565 -0.00544625 0.98549008 1.70021662] [ 0. 0. 0. 1. ]] SLAMing on 59.664839173 meters Centerline goodness : 0.726538 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.32, Z:1.71 [[ 0.93972078 0.30611938 0.15236728 -4.51565055] [-0.30356022 0.95195678 -0.04036679 2.31770104] [-0.15740412 -0.00831914 0.98749923 1.70597995] [ 0. 0. 0. 1. ]] SLAMing on 59.69483917299999 meters Centerline goodness : 0.727031 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.31, Z:1.71 [[ 0.93952547 0.30659413 0.15261694 -4.5168793 ] [-0.30432942 0.95178561 -0.03857134 2.31131371] [-0.15708435 -0.01020706 0.98753244 1.70568706] [ 0. 0. 0. 1. ]] SLAMing on 59.72483917299999 meters Centerline goodness : 0.722567 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.30, Z:1.71 [[ 0.94021561 0.30892312 0.14339143 -4.51996109] [-0.30771382 0.95097056 -0.03109987 2.30281435] [-0.1459685 -0.01488294 0.98917728 1.7139433 ] [ 0. 0. 0. 1. ]] SLAMing on 59.75483917299999 meters Centerline goodness : 0.721337 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.30, Z:1.71 [[ 0.93911956 0.31158064 0.14481695 -4.52208157] [-0.31101588 0.95001796 -0.02711085 2.29858348] [-0.14602591 -0.01958004 0.98908698 1.71467498] [ 0. 0. 0. 1. ]] SLAMing on 59.784839172999995 meters Centerline goodness : 0.722455 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.29, Z:1.72 [[ 0.93886727 0.31222409 0.14506676 -4.52380416] [-0.31186993 0.94977529 -0.02576924 2.29406866] [-0.1458266 -0.02104806 0.98908624 1.71656448] [ 0. 0. 0. 1. ]] SLAMing on 59.814839172999996 meters Centerline goodness : 0.717188 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.29, Z:1.72 [[ 0.93896739 0.31183288 0.14526009 -4.52566597] [-0.31147516 0.94990424 -0.02579068 2.29289619] [-0.14602556 -0.0210283 0.9890573 1.71878146] [ 0. 0. 0. 1. ]] SLAMing on 59.844839173 meters Centerline goodness : 0.722518 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.29, Z:1.73 [[ 0.94175852 0.30248971 0.14693832 -4.52916058] [-0.30250379 0.95287555 -0.02279546 2.28670621] [-0.14690932 -0.02298158 0.98888295 1.73067035] [ 0. 0. 0. 1. ]] SLAMing on 59.87483917299999 meters Centerline goodness : 0.726569 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.29, Z:1.74 [[ 0.94254048 0.30015715 0.14670762 -4.53318756] [-0.29983568 0.95366765 -0.02483101 2.28502897] [-0.14736352 -0.02058395 0.98886819 1.73593174] [ 0. 0. 0. 1. ]] SLAMing on 59.90483917299999 meters Centerline goodness : 0.735143 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94453643 0.29405563 0.14622657 -4.53237791] [-0.29460388 0.95544249 -0.01839032 2.2816054 ] [-0.14511885 -0.02570859 0.98908017 1.74698212] [ 0. 0. 0. 1. ]] SLAMing on 59.93483917299999 meters Centerline goodness : 0.737732 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94465116 0.29362375 0.14635324 -4.53382937] [-0.29418306 0.95557381 -0.01830364 2.27987802] [-0.14522571 -0.02576409 0.98906304 1.74836161] [ 0. 0. 0. 1. ]] SLAMing on 59.964839172999994 meters Centerline goodness : 0.746852 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94450196 0.29433697 0.14588281 -4.53281071] [-0.29501472 0.95533308 -0.01746511 2.27781438] [-0.1445073 -0.02654175 0.9891477 1.74878225] [ 0. 0. 0. 1. ]] SLAMing on 59.994839172999995 meters Centerline goodness : 0.746852 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94450196 0.29433697 0.14588281 -4.53281071] [-0.29501472 0.95533308 -0.01746511 2.27781438] [-0.1445073 -0.02654175 0.9891477 1.74878225] [ 0. 0. 0. 1. ]] SLAMing on 60.024839173 meters Centerline goodness : 0.744273 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94451687 0.29427635 0.14590858 -4.5337025 ] [-0.29495077 0.9553524 -0.01748792 2.27692917] [-0.14454039 -0.02651822 0.9891435 1.75023734] [ 0. 0. 0. 1. ]] SLAMing on 60.054839173 meters Centerline goodness : 0.753600 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.28, Z:1.75 [[ 0.94460809 0.29399845 0.14587829 -4.53447997] [-0.29456613 0.95545795 -0.01819052 2.27720968] [-0.14472856 -0.0257879 0.98913529 1.75190617] [ 0. 0. 0. 1. ]] SLAMing on 60.08483917299999 meters Centerline goodness : 0.768535 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.28, Z:1.76 [[ 0.94433298 0.29452034 0.14660487 -4.53712545] [-0.29505293 0.95529983 -0.01860115 2.28404267] [-0.14553002 -0.02569051 0.98902023 1.75865724] [ 0. 0. 0. 1. ]] SLAMing on 60.11483917299999 meters Centerline goodness : 0.774240 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.29, Z:1.76 [[ 0.944703 0.29349361 0.14627968 -4.53840679] [-0.29375242 0.95566546 -0.0203235 2.28732091] [-0.14575925 -0.02377034 0.98903448 1.76261907] [ 0. 0. 0. 1. ]] SLAMing on 60.144839172999994 meters Centerline goodness : 0.790559 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.29, Z:1.77 [[ 0.94696292 0.28794177 0.14265613 -4.53369272] [-0.28853974 0.95731819 -0.01693207 2.2930486 ] [-0.14144276 -0.02512792 0.98962747 1.77327863] [ 0. 0. 0. 1. ]] SLAMing on 60.174839172999995 meters Centerline goodness : 0.789820 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.30, Z:1.77 [[ 0.94718989 0.28749423 0.14205062 -4.53256371] [-0.28790257 0.95748826 -0.01811992 2.29615742] [-0.14122118 -0.02373374 0.98969353 1.77404262] [ 0. 0. 0. 1. ]] SLAMing on 60.204839172999996 meters Centerline goodness : 0.780352 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.30, Z:1.78 [[ 0.94941255 0.28736716 0.12663301 -4.52579308] [-0.28740305 0.95763325 -0.01838604 2.3013404 ] [-0.12655152 -0.01893878 0.99177923 1.77795301] [ 0. 0. 0. 1. ]] SLAMing on 60.234839173 meters Centerline goodness : 0.775719 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.30, Z:1.78 [[ 0.9515313 0.2863701 0.11216215 -4.5210422 ] [-0.28620944 0.95800025 -0.01787936 2.30440442] [-0.11257149 -0.01508909 0.99352905 1.78326042] [ 0. 0. 0. 1. ]] SLAMing on 60.26483917299999 meters Centerline goodness : 0.778887 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.31, Z:1.78 [[ 0.95167988 0.28603223 0.11176301 -4.51964719] [-0.28575201 0.95811794 -0.0188629 2.30742361] [-0.11247755 -0.01398506 0.99355585 1.78291884] [ 0. 0. 0. 1. ]] SLAMing on 60.29483917299999 meters Centerline goodness : 0.785985 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.32, Z:1.78 [[ 0.95135132 0.28735108 0.11117562 -4.5148377 ] [-0.28708071 0.95772228 -0.01878036 2.31557429] [-0.11187192 -0.01404966 0.99362331 1.78118935] [ 0. 0. 0. 1. ]] SLAMing on 60.324839172999994 meters Centerline goodness : 0.797190 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.33, Z:1.79 [[ 0.95066602 0.28968182 0.11098898 -4.51299019] [-0.28932106 0.95702941 -0.01969847 2.32581584] [-0.11192601 -0.01338479 0.9936264 1.78578413] [ 0. 0. 0. 1. ]] SLAMing on 60.354839172999995 meters Centerline goodness : 0.803882 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.33, Z:1.79 [[ 0.94995381 0.29183018 0.11145807 -4.5135099 ] [-0.29162341 0.95635391 -0.0185197 2.33086547] [-0.11199797 -0.01491092 0.99359656 1.78953246] [ 0. 0. 0. 1. ]] SLAMing on 60.384839172999996 meters Centerline goodness : 0.808171 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.34, Z:1.79 [[ 0.9483752 0.2962676 0.11318124 -4.51440039] [-0.29651818 0.95490934 -0.0150043 2.33956085] [-0.11252311 -0.01933059 0.99346106 1.79416246] [ 0. 0. 0. 1. ]] SLAMing on 60.414839173 meters Centerline goodness : 0.806569 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.34, Z:1.79 [[ 0.94744572 0.29898567 0.11381643 -4.51299044] [-0.29957859 0.95399281 -0.01226301 2.34288917] [-0.11224652 -0.02247843 0.99342611 1.79413023] [ 0. 0. 0. 1. ]] SLAMing on 60.44483917299999 meters Centerline goodness : 0.811126 Centerline is valid? [False, False] Translation: X:-4.50, Y:2.35, Z:1.79 [[ 0.94696921 0.29643001 0.12401036 -4.50322741] [-0.29735842 0.95469804 -0.01138515 2.3546178 ] [-0.12176735 -0.02609413 0.99221561 1.78741029] [ 0. 0. 0. 1. ]] SLAMing on 60.47483917299999 meters Centerline goodness : 0.802978 Centerline is valid? [False, False] Translation: X:-4.50, Y:2.36, Z:1.78 [[ 0.94680331 0.29740727 0.12293252 -4.49659233] [-0.29872525 0.95430563 -0.00799933 2.35758224] [-0.11969425 -0.02914926 0.99238279 1.78366525] [ 0. 0. 0. 1. ]] SLAMing on 60.50483917299999 meters Centerline goodness : 0.798487 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.37, Z:1.78 [[ 0.94612488 0.29978015 0.12239106 -4.49313327] [-0.30052486 0.9536885 -0.01276922 2.36555261] [-0.1205509 -0.02470027 0.99239981 1.77595438] [ 0. 0. 0. 1. ]] SLAMing on 60.534839172999995 meters Centerline goodness : 0.796323 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.37, Z:1.77 [[ 0.94587703 0.30073651 0.12195979 -4.49213716] [-0.3011269 0.95345549 -0.01565978 2.37051968] [-0.1209927 -0.02191315 0.9924115 1.77423957] [ 0. 0. 0. 1. ]] SLAMing on 60.564839172999996 meters Centerline goodness : 0.798160 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.38, Z:1.78 [[ 0.94538869 0.30243722 0.12153994 -4.4891944 ] [-0.30308721 0.95286646 -0.0135516 2.37660474] [-0.11990984 -0.02402568 0.99249403 1.7762597 ] [ 0. 0. 0. 1. ]] SLAMing on 60.594839173 meters Centerline goodness : 0.802755 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.38, Z:1.78 [[ 0.94469047 0.30441868 0.12202121 -4.48727344] [-0.30561659 0.95210987 -0.00923567 2.37819917] [-0.1189891 -0.02856686 0.99248452 1.77730186] [ 0. 0. 0. 1. ]] SLAMing on 60.62483917299999 meters Centerline goodness : 0.809445 Centerline is valid? [False, False] Translation: X:-4.48, Y:2.38, Z:1.78 [[ 9.45185826e-01 2.98988031e-01 1.31262761e-01 -4.48140652e+00] [-3.01419338e-01 9.53490638e-01 -1.40940621e-03 2.38493639e+00] [-1.25579210e-01 -3.82329839e-02 9.91346610e-01 1.77555040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65483917299999 meters Centerline goodness : 0.812775 Centerline is valid? [False, False] Translation: X:-4.48, Y:2.38, Z:1.78 [[ 9.45115918e-01 2.99224064e-01 1.31228277e-01 -4.47876272e+00] [-3.02334758e-01 9.53193481e-01 3.98515871e-03 2.38464541e+00] [-1.23893483e-01 -4.34413063e-02 9.91344167e-01 1.77783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68483917299999 meters Centerline goodness : 0.810168 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.39, Z:1.78 [[ 9.47527642e-01 2.93306445e-01 1.27132594e-01 -4.47147403e+00] [-2.95793018e-01 9.55251790e-01 7.12286058e-04 2.38960404e+00] [-1.21234720e-01 -3.82798445e-02 9.91885475e-01 1.77835939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.714839172999994 meters Centerline goodness : 0.802932 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.40, Z:1.77 [[ 0.94716509 0.2948729 0.1262072 -4.46809629] [-0.29667409 0.95496717 -0.00471127 2.3966009 ] [-0.12191296 -0.03298006 0.99199271 1.77148756] [ 0. 0. 0. 1. ]] SLAMing on 60.744839172999995 meters Centerline goodness : 0.802636 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.40, Z:1.77 [[ 0.94672408 0.29631733 0.12613312 -4.46778525] [-0.29780372 0.95459888 -0.00734336 2.40232313] [-0.1225825 -0.03061077 0.99198615 1.77071548] [ 0. 0. 0. 1. ]] SLAMing on 60.774839173 meters Centerline goodness : 0.801278 Centerline is valid? [False, False] Translation: X:-4.46, Y:2.41, Z:1.76 [[ 0.94727763 0.29095254 0.1342077 -4.46177857] [-0.29295648 0.95611265 -0.0050093 2.4108039 ] [-0.12977515 -0.03457181 0.99094056 1.76379496] [ 0. 0. 0. 1. ]] SLAMing on 60.804839173 meters Centerline goodness : 0.801697 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.42, Z:1.76 [[ 9.48551787e-01 2.82770980e-01 1.42443251e-01 -4.45268112e+00] [-2.85908819e-01 9.58255437e-01 1.63217145e-03 2.42117488e+00] [-1.36035489e-01 -4.22739809e-02 9.89801625e-01 1.76049563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83483917299999 meters Centerline goodness : 0.757119 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.43, Z:1.76 [[ 9.49715333e-01 2.74442207e-01 1.50739050e-01 -4.44616010e+00] [-2.77885944e-01 9.60612280e-01 1.85743730e-03 2.42661289e+00] [-1.44292023e-01 -4.36522998e-02 9.88571843e-01 1.75650121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86483917299999 meters Centerline goodness : 0.801307 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.44, Z:1.75 [[ 9.50280722e-01 2.69350429e-01 1.56259070e-01 -4.43477582e+00] [-2.72587035e-01 9.62130841e-01 -7.43319233e-04 2.43928089e+00] [-1.50541884e-01 -4.18878346e-02 9.87715825e-01 1.75267551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.894839172999994 meters Centerline goodness : 0.795069 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.45, Z:1.75 [[ 0.95073933 0.26943949 0.15328758 -4.42545714] [-0.27164744 0.96237313 -0.00675479 2.45413995] [-0.14933986 -0.03521814 0.98815854 1.74503535] [ 0. 0. 0. 1. ]] SLAMing on 60.924839172999995 meters Centerline goodness : 0.793177 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.46, Z:1.74 [[ 0.95055772 0.26412755 0.1633299 -4.42144745] [-0.26641693 0.9638236 -0.00812893 2.46456564] [-0.15956829 -0.03578684 0.98653802 1.73643343] [ 0. 0. 0. 1. ]] SLAMing on 60.954839172999996 meters Centerline goodness : 0.794173 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.48, Z:1.73 [[ 0.9496909 0.26100445 0.17310076 -4.41438331] [-0.26359939 0.96459706 -0.00823903 2.48086044] [-0.16912291 -0.03780473 0.98486966 1.73443406] [ 0. 0. 0. 1. ]] SLAMing on 60.984839173 meters Centerline goodness : 0.794842 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.49, Z:1.73 [[ 0.94976819 0.253963 0.18287475 -4.41014803] [-0.25690168 0.96640572 -0.00784283 2.48997558] [-0.17872299 -0.03953196 0.98310494 1.72875373] [ 0. 0. 0. 1. ]] SLAMing on 61.01483917299999 meters Centerline goodness : 0.795503 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.50, Z:1.73 [[ 0.95004899 0.25386379 0.18154915 -4.40753832] [-0.25630172 0.9665419 -0.01030464 2.49748835] [-0.17809083 -0.03674145 0.98332788 1.73158626] [ 0. 0. 0. 1. ]] SLAMing on 61.04483917299999 meters Centerline goodness : 0.795117 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.50, Z:1.74 [[ 0.95058984 0.25268928 0.18035266 -4.4058717 ] [-0.25509327 0.96686339 -0.01012982 2.50091981] [-0.17693609 -0.03637744 0.98354985 1.73581519] [ 0. 0. 0. 1. ]] SLAMing on 61.074839172999994 meters Centerline goodness : 0.795438 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.51, Z:1.73 [[ 0.95097913 0.24430942 0.18960908 -4.40161383] [-0.24744813 0.96887353 -0.00731466 2.50735311] [-0.18549426 -0.03996232 0.98183242 1.73029464] [ 0. 0. 0. 1. ]] SLAMing on 61.104839172999995 meters Centerline goodness : 0.796399 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.51, Z:1.73 [[ 0.95117272 0.24375295 0.18935403 -4.4018316 ] [-0.24667367 0.96906256 -0.00835784 2.50886101] [-0.18553315 -0.0387589 0.98187331 1.73249134] [ 0. 0. 0. 1. ]] SLAMing on 61.134839172999996 meters Centerline goodness : 0.799176 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.51, Z:1.73 [[ 0.9529653 0.23901346 0.1863591 -4.39763785] [-0.24097315 0.97045248 -0.01240699 2.50984505] [-0.18381808 -0.03308411 0.98240336 1.73228986] [ 0. 0. 0. 1. ]] SLAMing on 61.164839173 meters Centerline goodness : 0.795960 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.51, Z:1.73 [[ 0.95404883 0.23623057 0.18435278 -4.3953713 ] [-0.23724499 0.97130353 -0.01686049 2.51330898] [-0.18304546 -0.02765104 0.98271551 1.73343541] [ 0. 0. 0. 1. ]] SLAMing on 61.19483917299999 meters Centerline goodness : 0.794603 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.74 [[ 0.95496824 0.23441556 0.18189286 -4.39020447] [-0.2355416 0.97173745 -0.01569956 2.51849126] [-0.18043232 -0.02785076 0.98319302 1.73626273] [ 0. 0. 0. 1. ]] SLAMing on 61.22483917299999 meters Centerline goodness : 0.793935 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.74 [[ 0.95522955 0.23407363 0.1809587 -4.38821367] [-0.23510962 0.97183694 -0.01601333 2.51939511] [-0.17961065 -0.02724872 0.98336032 1.73626267] [ 0. 0. 0. 1. ]] SLAMing on 61.25483917299999 meters Centerline goodness : 0.797553 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.74 [[ 0.95561089 0.23243293 0.1810601 -4.39119494] [-0.23263625 0.97234953 -0.02041483 2.52038625] [-0.18079878 -0.02261251 0.98326013 1.74053201] [ 0. 0. 0. 1. ]] SLAMing on 61.284839172999995 meters Centerline goodness : 0.799302 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.74 [[ 0.95549346 0.23266646 0.18137963 -4.39267331] [-0.23290013 0.97228849 -0.02031308 2.51965471] [-0.1810795 -0.02283433 0.98320334 1.74304637] [ 0. 0. 0. 1. ]] SLAMing on 61.314839172999996 meters Centerline goodness : 0.798476 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.74 [[ 0.95596446 0.23215381 0.17954542 -4.38913571] [-0.23122155 0.97254288 -0.02639973 2.52436814] [-0.18074441 -0.01627756 0.98339539 1.73987157] [ 0. 0. 0. 1. ]] SLAMing on 61.344839173 meters Centerline goodness : 0.790329 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.53, Z:1.73 [[ 9.57703200e-01 2.30482432e-01 1.72285894e-01 -4.37796973e+00] [-2.27622774e-01 9.73066950e-01 -3.64497551e-02 2.52994109e+00] [-1.76046737e-01 -4.30814583e-03 9.84372382e-01 1.73205642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37483917299999 meters Centerline goodness : 0.785903 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.53, Z:1.73 [[ 9.58295398e-01 2.29254475e-01 1.70623319e-01 -4.37440691e+00] [-2.25434072e-01 9.73365363e-01 -4.17055040e-02 2.53461569e+00] [-1.75640002e-01 1.50188307e-03 9.84453317e-01 1.72865571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40483917299999 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.73 [[ 9.58388281e-01 2.29227203e-01 1.70137569e-01 -4.37408106e+00] [-2.25266103e-01 9.73369978e-01 -4.24978686e-02 2.53692174e+00] [-1.75348469e-01 2.40323206e-03 9.84503499e-01 1.73102601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43483917299999 meters Centerline goodness : 0.792690 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.74 [[ 9.57883064e-01 2.23435766e-01 1.80378750e-01 -4.37316376e+00] [-2.19641713e-01 9.74718595e-01 -4.10021668e-02 2.54166349e+00] [-1.84979872e-01 -3.43416404e-04 9.82742249e-01 1.73905934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.464839172999994 meters Centerline goodness : 0.803144 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.54, Z:1.75 [[ 0.95848611 0.21962833 0.18184544 -4.38012769] [-0.21478195 0.97556974 -0.04617785 2.54197512] [-0.18754488 0.00520371 0.98224225 1.75073677] [ 0. 0. 0. 1. ]] SLAMing on 61.494839172999995 meters Centerline goodness : 0.803902 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.54, Z:1.75 [[ 0.95950027 0.21640799 0.18035192 -4.3797406 ] [-0.21082679 0.97625427 -0.04979632 2.54215954] [-0.18684565 0.00975657 0.98234083 1.75360717] [ 0. 0. 0. 1. ]] SLAMing on 61.524839173 meters Centerline goodness : 0.803015 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.54, Z:1.75 [[ 0.96169771 0.20947939 0.17679338 -4.3756785 ] [-0.20243156 0.97762398 -0.05720862 2.54151528] [-0.18482147 0.01922884 0.98258398 1.75316739] [ 0. 0. 0. 1. ]] SLAMing on 61.554839173 meters Centerline goodness : 0.799652 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.96242147 0.20697522 0.1758015 -4.37427224] [-0.19913039 0.97805092 -0.06134723 2.54014086] [-0.18464017 0.02403447 0.98251226 1.75015583] [ 0. 0. 0. 1. ]] SLAMing on 61.58483917299999 meters Centerline goodness : 0.798337 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.96302048 0.20527759 0.17450694 -4.3720615 ] [-0.19694961 0.978325 -0.06396134 2.53807158] [-0.18385433 0.027227 0.98257635 1.74793708] [ 0. 0. 0. 1. ]] SLAMing on 61.61483917299999 meters Centerline goodness : 0.799275 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.96299149 0.20570829 0.17415935 -4.37129594] [-0.19743358 0.97824026 -0.06376505 2.53884636] [-0.18348669 0.02702029 0.98265077 1.74869376] [ 0. 0. 0. 1. ]] SLAMing on 61.644839172999994 meters Centerline goodness : 0.800374 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.96207701 0.20912083 0.17514652 -4.37213977] [-0.20171384 0.97764898 -0.05927905 2.53787782] [-0.1836283 0.02170153 0.98275617 1.75071105] [ 0. 0. 0. 1. ]] SLAMing on 61.674839172999995 meters Centerline goodness : 0.801564 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.96203632 0.20938591 0.17505331 -4.37212918] [-0.20214782 0.97761174 -0.0584084 2.53584429] [-0.18336406 0.02080436 0.98282491 1.75132789] [ 0. 0. 0. 1. ]] SLAMing on 61.704839172999996 meters Centerline goodness : 0.802839 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.53, Z:1.75 [[ 0.96244122 0.2081954 0.17424573 -4.37148282] [-0.20110887 0.97787495 -0.05758304 2.5344904 ] [-0.18237906 0.02037793 0.9830171 1.75378759] [ 0. 0. 0. 1. ]] SLAMing on 61.734839173 meters Centerline goodness : 0.799909 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.54, Z:1.75 [[ 0.964326 0.20216773 0.17089051 -4.3672034 ] [-0.19341469 0.97885528 -0.06658149 2.53846296] [-0.18073771 0.03115352 0.98303781 1.75334813] [ 0. 0. 0. 1. ]] SLAMing on 61.76483917299999 meters Centerline goodness : 0.798472 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.54, Z:1.75 [[ 0.96528999 0.19889709 0.16927844 -4.36493046] [-0.18950102 0.97937304 -0.0701271 2.53883652] [-0.17973481 0.03561455 0.98307019 1.75241464] [ 0. 0. 0. 1. ]] SLAMing on 61.79483917299999 meters Centerline goodness : 0.795583 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.54, Z:1.75 [[ 0.96624441 0.19559633 0.16767173 -4.36273613] [-0.18550734 0.97985155 -0.0740133 2.53840164] [-0.17877013 0.0404106 0.98306064 1.75109853] [ 0. 0. 0. 1. ]] SLAMing on 61.824839172999994 meters Centerline goodness : 0.796076 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.54, Z:1.75 [[ 0.96729244 0.19196585 0.16581452 -4.35996585] [-0.18132366 0.98038548 -0.0772401 2.53785564] [-0.17738961 0.04464767 0.98312741 1.75023043] [ 0. 0. 0. 1. ]] SLAMing on 61.854839172999995 meters Centerline goodness : 0.798288 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.54, Z:1.75 [[ 0.9675767 0.19149254 0.16469952 -4.35727912] [-0.18101441 0.98049469 -0.07657639 2.53868893] [-0.17615081 0.04428054 0.98336673 1.75005306] [ 0. 0. 0. 1. ]] SLAMing on 61.884839172999996 meters Centerline goodness : 0.796907 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.75 [[ 0.96803485 0.19104156 0.16251661 -4.35114998] [-0.1807253 0.98057784 -0.07619364 2.5412525 ] [-0.17391634 0.04438723 0.98375956 1.74748611] [ 0. 0. 0. 1. ]] SLAMing on 61.914839173 meters Centerline goodness : 0.796907 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.75 [[ 0.96803485 0.19104156 0.16251661 -4.35114998] [-0.1807253 0.98057784 -0.07619364 2.5412525 ] [-0.17391634 0.04438723 0.98375956 1.74748611] [ 0. 0. 0. 1. ]] SLAMing on 61.94483917299999 meters Centerline goodness : 0.796873 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.75 [[ 0.96742461 0.19385397 0.1628197 -4.34941126] [-0.18439676 0.98025046 -0.07146237 2.54163856] [-0.17345735 0.03911103 0.98406447 1.74606628] [ 0. 0. 0. 1. ]] SLAMing on 61.97483917299999 meters Centerline goodness : 0.799462 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.75 [[ 0.96735571 0.19471749 0.16219753 -4.34795885] [-0.18520971 0.98006095 -0.07195758 2.5438374 ] [-0.17297486 0.03956802 0.98413112 1.74678105] [ 0. 0. 0. 1. ]] SLAMing on 62.00483917299999 meters Centerline goodness : 0.799055 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.55, Z:1.75 [[ 0.96740421 0.19505302 0.16150358 -4.34604325] [-0.1855447 0.97998364 -0.07214728 2.54581259] [-0.17234341 0.03982945 0.98423136 1.74664366] [ 0. 0. 0. 1. ]] SLAMing on 62.034839172999995 meters Centerline goodness : 0.799099 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.55, Z:1.74 [[ 0.96687277 0.19795173 0.16115882 -4.34210529] [-0.18904596 0.97954163 -0.06899143 2.54770668] [-0.17151874 0.03623951 0.9845141 1.74274478] [ 0. 0. 0. 1. ]] SLAMing on 62.064839172999996 meters Centerline goodness : 0.795560 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.55, Z:1.74 [[ 0.96630323 0.199916 0.16214703 -4.34311746] [-0.19090625 0.97914313 -0.0695236 2.5476681 ] [-0.17266403 0.036226 0.98431439 1.74080419] [ 0. 0. 0. 1. ]] SLAMing on 62.094839173 meters Centerline goodness : 0.796630 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.55, Z:1.74 [[ 0.96597561 0.20075382 0.16306141 -4.3449565 ] [-0.19168852 0.97897706 -0.06970961 2.54626259] [-0.17362785 0.03608078 0.98415016 1.74045007] [ 0. 0. 0. 1. ]] SLAMing on 62.12483917299999 meters Centerline goodness : 0.797188 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.74 [[ 0.96609754 0.19998267 0.1632865 -4.34533449] [-0.1915175 0.97925422 -0.0661983 2.53898707] [-0.17313751 0.03268179 0.98435527 1.73959187] [ 0. 0. 0. 1. ]] SLAMing on 62.15483917299999 meters Centerline goodness : 0.799026 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.54, Z:1.74 [[ 0.9662425 0.19923501 0.16334271 -4.34591456] [-0.19099294 0.97944618 -0.06486045 2.53549776] [-0.17290786 0.03147362 0.98443501 1.74017931] [ 0. 0. 0. 1. ]] SLAMing on 62.18483917299999 meters Centerline goodness : 0.798213 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.53, Z:1.75 [[ 0.96760373 0.19404989 0.16151676 -4.34628024] [-0.18544217 0.98037457 -0.06690971 2.5325633 ] [-0.17133075 0.03479007 0.98459912 1.74603756] [ 0. 0. 0. 1. ]] SLAMing on 62.214839172999994 meters Centerline goodness : 0.800438 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.53, Z:1.75 [[ 0.96857626 0.19026384 0.16018644 -4.34607683] [-0.18165672 0.98108374 -0.06689942 2.5300378 ] [-0.16988485 0.03569825 0.98481713 1.74955535] [ 0. 0. 0. 1. ]] SLAMing on 62.244839172999995 meters Centerline goodness : 0.804153 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.52, Z:1.76 [[ 0.96959767 0.18524319 0.15989156 -4.35059306] [-0.176466 0.98198431 -0.06757634 2.52328061] [-0.16952906 0.03730644 0.98481883 1.75802664] [ 0. 0. 0. 1. ]] SLAMing on 62.274839173 meters Centerline goodness : 0.810074 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.52, Z:1.76 [[ 0.97059575 0.18148369 0.15813777 -4.34861243] [-0.17243654 0.98258104 -0.06928297 2.51989002] [-0.16795691 0.03997702 0.98498341 1.75823859] [ 0. 0. 0. 1. ]] SLAMing on 62.304839173 meters Centerline goodness : 0.803204 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.51, Z:1.76 [[ 0.97403303 0.17576629 0.14270905 -4.3461343 ] [-0.16574422 0.98296665 -0.07940666 2.51176428] [-0.15423525 0.05369151 0.98657423 1.75949465] [ 0. 0. 0. 1. ]] SLAMing on 62.33483917299999 meters Centerline goodness : 0.801433 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.51, Z:1.75 [[ 0.97483003 0.17245722 0.14129729 -4.34251299] [-0.16233996 0.98345939 -0.08033278 2.50515667] [-0.15281412 0.05537261 0.98670245 1.75336968] [ 0. 0. 0. 1. ]] SLAMing on 62.36483917299999 meters Centerline goodness : 0.803418 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.49, Z:1.74 [[ 0.97482695 0.17301483 0.14063527 -4.33780104] [-0.16391207 0.98369501 -0.07400647 2.49359589] [-0.15114643 0.04909168 0.98729163 1.7419949 ] [ 0. 0. 0. 1. ]] SLAMing on 62.394839172999994 meters Centerline goodness : 0.804765 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.49, Z:1.74 [[ 0.97337413 0.17886125 0.14335776 -4.34193817] [-0.17039262 0.98292786 -0.06942024 2.4906874 ] [-0.15332693 0.04314476 0.9872332 1.74258781] [ 0. 0. 0. 1. ]] SLAMing on 62.424839172999995 meters Centerline goodness : 0.804899 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.49, Z:1.74 [[ 0.97229611 0.18301954 0.14541019 -4.34526197] [-0.17540948 0.98243599 -0.06364777 2.48564297] [-0.15450499 0.03637815 0.98732205 1.7437551 ] [ 0. 0. 0. 1. ]] SLAMing on 62.454839172999996 meters Centerline goodness : 0.809759 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.97205026 0.18380931 0.14605623 -4.34764122] [-0.17626843 0.98231709 -0.0631076 2.48383494] [-0.15507329 0.03559866 0.98726137 1.74658027] [ 0. 0. 0. 1. ]] SLAMing on 62.484839173 meters Centerline goodness : 0.810582 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.97220569 0.1837292 0.14511953 -4.34559476] [-0.17642256 0.9823713 -0.06181997 2.48297163] [-0.1539194 0.03449936 0.98748094 1.74684199] [ 0. 0. 0. 1. ]] SLAMing on 62.51483917299999 meters Centerline goodness : 0.812218 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.48, Z:1.75 [[ 0.97149665 0.18733441 0.14525869 -4.34469809] [-0.18092707 0.98188651 -0.05625193 2.48142255] [-0.15316547 0.02836733 0.98779331 1.74859862] [ 0. 0. 0. 1. ]] SLAMing on 62.54483917299999 meters Centerline goodness : 0.815493 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.97079 0.18997775 0.14654429 -4.34727421] [-0.18338565 0.98136504 -0.05737903 2.48298039] [-0.15471418 0.02882887 0.98753857 1.74916841] [ 0. 0. 0. 1. ]] SLAMing on 62.574839172999994 meters Centerline goodness : 0.814864 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.96879688 0.19728883 0.1500324 -4.35194621] [-0.19101404 0.98002902 -0.0552879 2.47992093] [-0.15794379 0.02490445 0.987134 1.74557093] [ 0. 0. 0. 1. ]] SLAMing on 62.604839172999995 meters Centerline goodness : 0.815483 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.74 [[ 0.96863443 0.19822423 0.14984826 -4.35119463] [-0.19189522 0.97983215 -0.0557241 2.48072807] [-0.15787201 0.02522112 0.98713744 1.74485157] [ 0. 0. 0. 1. ]] SLAMing on 62.634839172999996 meters Centerline goodness : 0.812437 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.96833809 0.19944158 0.15014794 -4.35209158] [-0.19303834 0.97957884 -0.0562271 2.48128796] [-0.15829577 0.02546254 0.98706338 1.74581861] [ 0. 0. 0. 1. ]] SLAMing on 62.664839173 meters Centerline goodness : 0.815071 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.96814302 0.20016503 0.15044286 -4.35421914] [-0.19375342 0.9794344 -0.05628377 2.48189671] [-0.15861496 0.02534192 0.98701524 1.74994246] [ 0. 0. 0. 1. ]] SLAMing on 62.69483917299999 meters Centerline goodness : 0.816462 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96727702 0.20317481 0.15197095 -4.35888187] [-0.19758224 0.97894833 -0.05119982 2.48040463] [-0.15917422 0.01949765 0.98705796 1.75845049] [ 0. 0. 0. 1. ]] SLAMing on 62.72483917299999 meters Centerline goodness : 0.815269 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96718459 0.20341523 0.15223738 -4.36054107] [-0.19778384 0.97889581 -0.05142517 2.48182702] [-0.1594852 0.01962754 0.98700518 1.76177134] [ 0. 0. 0. 1. ]] SLAMing on 62.75483917299999 meters Centerline goodness : 0.814272 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.77 [[ 0.96701299 0.20384547 0.15275111 -4.36303439] [-0.19820864 0.97880976 -0.05142748 2.48257486] [-0.15999754 0.01945445 0.98692569 1.76633058] [ 0. 0. 0. 1. ]] SLAMing on 62.784839172999995 meters Centerline goodness : 0.813365 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96692684 0.20412655 0.152921 -4.36172235] [-0.1989303 0.97880245 -0.04870834 2.47787871] [-0.15962212 0.01667678 0.98703732 1.76331195] [ 0. 0. 0. 1. ]] SLAMing on 62.814839172999996 meters Centerline goodness : 0.810580 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96657446 0.20530168 0.15357419 -4.36279545] [-0.20007073 0.97855826 -0.04894314 2.47510581] [-0.1603294 0.01658149 0.98692428 1.76178298] [ 0. 0. 0. 1. ]] SLAMing on 62.844839173 meters Centerline goodness : 0.806486 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.47, Z:1.76 [[ 0.96557227 0.20843624 0.15564229 -4.3671211 ] [-0.20283708 0.97787259 -0.05120859 2.47314882] [-0.16287206 0.01787556 0.98648525 1.76047236] [ 0. 0. 0. 1. ]] SLAMing on 62.87483917299999 meters Centerline goodness : 0.808948 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.48, Z:1.76 [[ 0.96560766 0.20847468 0.15537102 -4.36704491] [-0.20270392 0.97784339 -0.05228216 2.47611798] [-0.16282803 0.01898974 0.9864717 1.76198946] [ 0. 0. 0. 1. ]] SLAMing on 62.90483917299999 meters Centerline goodness : 0.811070 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96570778 0.20952062 0.15332838 -4.36107327] [-0.20433978 0.97767379 -0.04898182 2.48200094] [-0.16016784 0.01597104 0.98696058 1.76321135] [ 0. 0. 0. 1. ]] SLAMing on 62.93483917299999 meters Centerline goodness : 0.808635 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.48, Z:1.76 [[ 0.96573876 0.2098468 0.15268587 -4.35861415] [-0.20439576 0.97757233 -0.05074157 2.48472431] [-0.15990943 0.01779475 0.98697129 1.76016945] [ 0. 0. 0. 1. ]] SLAMing on 62.964839172999994 meters Centerline goodness : 0.807628 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.75 [[ 0.96498522 0.21251438 0.15375683 -4.35819478] [-0.20653095 0.9769443 -0.05408149 2.48636641] [-0.16170496 0.02043229 0.9866276 1.75243614] [ 0. 0. 0. 1. ]] SLAMing on 62.994839172999995 meters Centerline goodness : 0.805612 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.75 [[ 0.96481087 0.21333032 0.15372106 -4.35786473] [-0.2071805 0.97674632 -0.05516228 2.48779994] [-0.16191426 0.02137316 0.98657334 1.75168193] [ 0. 0. 0. 1. ]] SLAMing on 63.024839173 meters Centerline goodness : 0.805410 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.76 [[ 0.96434131 0.21488719 0.154497 -4.36009932] [-0.20946531 0.97649814 -0.05075112 2.48974971] [-0.1617718 0.01657964 0.98668891 1.75939269] [ 0. 0. 0. 1. ]] SLAMing on 63.054839173 meters Centerline goodness : 0.806264 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.77 [[ 0.96516418 0.21237169 0.15282792 -4.35906314] [-0.20716885 0.9770579 -0.04938548 2.49100084] [-0.1598098 0.01600391 0.98701809 1.76632057] [ 0. 0. 0. 1. ]] SLAMing on 63.08483917299999 meters Centerline goodness : 0.808107 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.77 [[ 0.96619902 0.20926665 0.15055541 -4.35587073] [-0.20338489 0.97762878 -0.05363352 2.49306142] [-0.15841101 0.02119996 0.98714564 1.76623876] [ 0. 0. 0. 1. ]] SLAMing on 63.11483917299999 meters Centerline goodness : 0.810546 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.76 [[ 0.96718724 0.21287587 0.13868206 -4.3556614 ] [-0.20706464 0.97676689 -0.05523303 2.48995732] [-0.14721783 0.02470454 0.98879553 1.7633368 ] [ 0. 0. 0. 1. ]] SLAMing on 63.144839172999994 meters Centerline goodness : 0.810822 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.49, Z:1.76 [[ 0.96780262 0.21086516 0.13745532 -4.35313372] [-0.20427954 0.97703894 -0.0605375 2.49239567] [-0.14706445 0.03050904 0.98865628 1.75937412] [ 0. 0. 0. 1. ]] SLAMing on 63.174839172999995 meters Centerline goodness : 0.806974 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.49, Z:1.75 [[ 0.96817933 0.20985805 0.13633924 -4.3499188 ] [-0.20203058 0.97694059 -0.06907048 2.48970046] [-0.14769033 0.03932792 0.98825143 1.74888322] [ 0. 0. 0. 1. ]] SLAMing on 63.204839172999996 meters Centerline goodness : 0.805605 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.49, Z:1.74 [[ 0.96853607 0.20866946 0.13562793 -4.34825387] [-0.20026981 0.97701527 -0.07302855 2.48831133] [-0.14774939 0.0435686 0.98806472 1.74403357] [ 0. 0. 0. 1. ]] SLAMing on 63.234839173 meters Centerline goodness : 0.809230 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.96870259 0.21499347 0.12406893 -4.34974876] [-0.20782874 0.97578399 -0.06821161 2.47869361] [-0.13572953 0.04029167 0.9899263 1.74639418] [ 0. 0. 0. 1. ]] SLAMing on 63.26483917299999 meters Centerline goodness : 0.811594 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.75 [[ 0.96872666 0.21534288 0.12327245 -4.34711204] [-0.20841095 0.97576016 -0.06676072 2.47804224] [-0.13466079 0.03898156 0.99012469 1.74531475] [ 0. 0. 0. 1. ]] SLAMing on 63.29483917299999 meters Centerline goodness : 0.813110 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.48, Z:1.74 [[ 0.96806746 0.21822205 0.12338774 -4.34473757] [-0.21204037 0.9753333 -0.06135015 2.47710217] [-0.13373212 0.0332279 0.99046031 1.74443739] [ 0. 0. 0. 1. ]] SLAMing on 63.324839172999994 meters Centerline goodness : 0.815635 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.48, Z:1.74 [[ 0.96798441 0.21870721 0.12318013 -4.34407032] [-0.21262252 0.97524665 -0.06070942 2.4768069 ] [-0.1334086 0.0325749 0.99052563 1.74440252] [ 0. 0. 0. 1. ]] SLAMing on 63.354839172999995 meters Centerline goodness : 0.814491 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.47, Z:1.74 [[ 0.96838971 0.21701548 0.12298634 -4.34418646] [-0.2103065 0.97545294 -0.06528969 2.47346653] [-0.13413626 0.03736104 0.99025836 1.73926538] [ 0. 0. 0. 1. ]] SLAMing on 63.384839172999996 meters Centerline goodness : 0.815143 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.47, Z:1.73 [[ 0.96938893 0.21372836 0.12085237 -4.33962831] [-0.20659405 0.97599691 -0.06891245 2.47251068] [-0.13268009 0.04183558 0.99027561 1.73490183] [ 0. 0. 0. 1. ]] SLAMing on 63.414839173 meters Centerline goodness : 0.812624 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.47, Z:1.73 [[ 0.97126911 0.21365787 0.10481709 -4.32907596] [-0.20704333 0.97578803 -0.07050379 2.47203024] [-0.11734295 0.04677648 0.99198921 1.7302967 ] [ 0. 0. 0. 1. ]] SLAMing on 63.44483917299999 meters Centerline goodness : 0.808510 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.47, Z:1.72 [[ 0.97149834 0.21335629 0.10329601 -4.3232956 ] [-0.2066876 0.97578552 -0.07157415 2.47425956] [-0.11606554 0.04818416 0.99207211 1.72455883] [ 0. 0. 0. 1. ]] SLAMing on 63.47483917299999 meters Centerline goodness : 0.801383 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.48, Z:1.71 [[ 0.97125223 0.2146818 0.10286316 -4.32116865] [-0.20681095 0.97493775 -0.08200982 2.47730175] [-0.11789119 0.05837899 0.99130901 1.71169943] [ 0. 0. 0. 1. ]] SLAMing on 63.50483917299999 meters Centerline goodness : 0.800538 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.48, Z:1.71 [[ 0.97069825 0.2170884 0.10304142 -4.32193902] [-0.208488 0.97405045 -0.08808224 2.47871242] [-0.11948917 0.06401837 0.99076939 1.70573337] [ 0. 0. 0. 1. ]] SLAMing on 63.534839172999995 meters Centerline goodness : 0.786677 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.48, Z:1.70 [[ 0.97085543 0.21710412 0.10151615 -4.31657283] [-0.20858005 0.97401337 -0.0882741 2.48121953] [-0.11804276 0.06452715 0.99090976 1.70202102] [ 0. 0. 0. 1. ]] SLAMing on 63.564839172999996 meters Centerline goodness : 0.774999 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.48, Z:1.69 [[ 0.97113307 0.22210142 0.08701447 -4.30920843] [-0.21377622 0.97219193 -0.09561687 2.482509 ] [-0.10583141 0.07425508 0.99160773 1.69130943] [ 0. 0. 0. 1. ]] SLAMing on 63.594839173 meters Centerline goodness : 0.761575 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.48, Z:1.68 [[ 0.97011467 0.22656036 0.08687883 -4.3013702 ] [-0.21885835 0.97160692 -0.08989444 2.47878127] [-0.10477859 0.06819376 0.99215476 1.68043082] [ 0. 0. 0. 1. ]] SLAMing on 63.62483917299999 meters Centerline goodness : 0.754147 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.48, Z:1.67 [[ 0.96944178 0.23425364 0.07285512 -4.28992745] [-0.22804646 0.96998916 -0.08435544 2.47966988] [-0.09042925 0.06516334 0.99376873 1.67379006] [ 0. 0. 0. 1. ]] SLAMing on 63.65483917299999 meters Centerline goodness : 0.746893 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.48, Z:1.67 [[ 0.96897598 0.23631802 0.07238337 -4.28641018] [-0.22995121 0.96935364 -0.08646367 2.48291683] [-0.09059801 0.06713658 0.993622 1.66767315] [ 0. 0. 0. 1. ]] SLAMing on 63.68483917299999 meters Centerline goodness : 0.746676 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.49, Z:1.66 [[ 0.96832773 0.23867282 0.07332588 -4.28427973] [-0.23248848 0.96898229 -0.0837999 2.48658719] [-0.09105224 0.06409835 0.99378111 1.66419804] [ 0. 0. 0. 1. ]] SLAMing on 63.714839172999994 meters Centerline goodness : 0.715636 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.49, Z:1.66 [[ 0.96870976 0.23754342 0.07193413 -4.27750269] [-0.2318986 0.96954502 -0.07877494 2.48716291] [-0.08845585 0.05962863 0.99429371 1.66341405] [ 0. 0. 0. 1. ]] SLAMing on 63.744839172999995 meters Centerline goodness : 0.744636 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.49, Z:1.66 [[ 0.97046636 0.23174293 0.06700941 -4.26108061] [-0.22732752 0.97147961 -0.06745043 2.48727669] [-0.08072944 0.05022529 0.99546983 1.66226811] [ 0. 0. 0. 1. ]] SLAMing on 63.774839173 meters Centerline goodness : 0.744730 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.49, Z:1.66 [[ 0.97115627 0.22931164 0.06535808 -4.25544414] [-0.22515729 0.97213977 -0.06518022 2.48815588] [-0.07848377 0.04858433 0.99573082 1.66186216] [ 0. 0. 0. 1. ]] SLAMing on 63.804839173 meters Centerline goodness : 0.744730 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.49, Z:1.66 [[ 0.97115627 0.22931164 0.06535808 -4.25544414] [-0.22515729 0.97213977 -0.06518022 2.48815588] [-0.07848377 0.04858433 0.99573082 1.66186216] [ 0. 0. 0. 1. ]] SLAMing on 63.83483917299999 meters Centerline goodness : 0.740402 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.49, Z:1.66 [[ 0.97165114 0.22773926 0.06347353 -4.24774199] [-0.22399569 0.9726795 -0.06099614 2.4896663 ] [-0.07563062 0.04504917 0.99611776 1.66072335] [ 0. 0. 0. 1. ]] SLAMing on 63.86483917299999 meters Centerline goodness : 0.747602 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.49, Z:1.66 [[ 0.97145115 0.22870525 0.06306014 -4.2432738 ] [-0.2253218 0.97264709 -0.05646 2.48889439] [-0.07424796 0.04063931 0.9964114 1.65865948] [ 0. 0. 0. 1. ]] SLAMing on 63.894839172999994 meters Centerline goodness : 0.741069 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.49, Z:1.65 [[ 0.9717688 0.22416794 0.07358073 -4.23698401] [-0.22056487 0.97387606 -0.0540051 2.49151694] [-0.08376472 0.03625115 0.99582595 1.64690917] [ 0. 0. 0. 1. ]] SLAMing on 63.924839172999995 meters Centerline goodness : 0.743433 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.50, Z:1.64 [[ 0.97200697 0.21877339 0.08567759 -4.23335784] [-0.21481587 0.97521112 -0.05307938 2.49900674] [-0.09516609 0.03318862 0.994908 1.63964722] [ 0. 0. 0. 1. ]] SLAMing on 63.954839172999996 meters Centerline goodness : 0.738479 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.50, Z:1.64 [[ 0.97210085 0.21876532 0.08462665 -4.22957138] [-0.21481433 0.97519488 -0.05338297 2.50136034] [-0.09420582 0.03371461 0.9949817 1.63731207] [ 0. 0. 0. 1. ]] SLAMing on 63.984839173 meters Centerline goodness : 0.736700 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.51, Z:1.63 [[ 0.97242708 0.21805745 0.08268321 -4.22276009] [-0.21408765 0.97530523 -0.0542788 2.50608117] [-0.09247727 0.03508072 0.99509663 1.63326497] [ 0. 0. 0. 1. ]] SLAMing on 64.014839173 meters Centerline goodness : 0.730908 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.51, Z:1.63 [[ 0.97286935 0.21672061 0.08097778 -4.2175268 ] [-0.21289497 0.97561911 -0.05332056 2.50711517] [-0.09055913 0.03463418 0.99528866 1.63194622] [ 0. 0. 0. 1. ]] SLAMing on 64.044839173 meters Centerline goodness : 0.706680 Centerline is valid? [False, False] Translation: X:-4.21, Y:2.51, Z:1.63 [[ 0.97400671 0.21311334 0.07677003 -4.20511695] [-0.20954833 0.97641856 -0.05192586 2.51072321] [-0.08602578 0.0344891 0.99569577 1.62781246] [ 0. 0. 0. 1. ]] SLAMing on 64.074839173 meters Centerline goodness : 0.700959 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.51, Z:1.63 [[ 0.97381309 0.21421207 0.07616596 -4.20051696] [-0.21106481 0.97632658 -0.047308 2.51101365] [-0.08449679 0.0299932 0.99597224 1.62598918] [ 0. 0. 0. 1. ]] SLAMing on 64.104839173 meters Centerline goodness : 0.693395 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.52, Z:1.62 [[ 0.97345253 0.21117631 0.08828776 -4.19674215] [-0.20787018 0.97711132 -0.04520451 2.51528717] [-0.09581309 0.02565205 0.99506875 1.61810775] [ 0. 0. 0. 1. ]] SLAMing on 64.134839173 meters Centerline goodness : 0.699350 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.51, Z:1.62 [[ 0.97323262 0.21202606 0.08867476 -4.19702598] [-0.20868028 0.97692284 -0.04554449 2.51353613] [-0.09628501 0.02582071 0.99501884 1.61627457] [ 0. 0. 0. 1. ]] SLAMing on 64.164839173 meters Centerline goodness : 0.671012 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.51, Z:1.61 [[ 0.97272535 0.21390363 0.08972529 -4.20106547] [-0.20983406 0.97631676 -0.05268061 2.51044104] [-0.09886888 0.03241635 0.99457233 1.61161482] [ 0. 0. 0. 1. ]] SLAMing on 64.194839173 meters Centerline goodness : 0.680459 Centerline is valid? [False, False] Translation: X:-4.20, Y:2.51, Z:1.61 [[ 0.97242735 0.21515378 0.08996615 -4.20279013] [-0.21075613 0.97593746 -0.05592785 2.50908684] [-0.09983442 0.03542486 0.99437325 1.61002503] [ 0. 0. 0. 1. ]] SLAMing on 64.224839173 meters Centerline goodness : 0.668195 Centerline is valid? [False, False] Translation: X:-4.21, Y:2.50, Z:1.61 [[ 0.9717562 0.217375 0.0918586 -4.20898335] [-0.21287433 0.97545278 -0.05635949 2.50125383] [-0.10185487 0.03521334 0.99417584 1.61082387] [ 0. 0. 0. 1. ]] SLAMing on 64.25483917300001 meters Centerline goodness : 0.676280 Centerline is valid? [False, False] Translation: X:-4.21, Y:2.49, Z:1.61 [[ 0.9714869 0.21780212 0.09367729 -4.21485083] [-0.21304297 0.97530583 -0.05823424 2.49493012] [-0.10404755 0.03661651 0.99389805 1.61038727] [ 0. 0. 0. 1. ]] SLAMing on 64.284839173 meters Centerline goodness : 0.680990 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.48, Z:1.61 [[ 0.97150738 0.21694445 0.0954385 -4.22241246] [-0.21208102 0.97549525 -0.05857184 2.48324055] [-0.10580664 0.03666228 0.99371064 1.61360771] [ 0. 0. 0. 1. ]] SLAMing on 64.314839173 meters Centerline goodness : 0.693374 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.48, Z:1.62 [[ 0.97210126 0.21465052 0.09457428 -4.22066853] [-0.21021189 0.9761217 -0.05474837 2.47970842] [-0.10406777 0.03334032 0.99401123 1.61699275] [ 0. 0. 0. 1. ]] SLAMing on 64.344839173 meters Centerline goodness : 0.680108 Centerline is valid? [False, False] Translation: X:-4.22, Y:2.47, Z:1.62 [[ 0.97330812 0.20956957 0.09355156 -4.22096728] [-0.20517082 0.9772076 -0.05449988 2.47298009] [-0.10284081 0.03385113 0.99412166 1.62046443] [ 0. 0. 0. 1. ]] SLAMing on 64.374839173 meters Centerline goodness : 0.698896 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.46, Z:1.62 [[ 0.97387568 0.21156546 0.0824998 -4.22613638] [-0.20802949 0.97687293 -0.04942682 2.45640861] [-0.09104883 0.03097319 0.99536464 1.62488869] [ 0. 0. 0. 1. ]] SLAMing on 64.404839173 meters Centerline goodness : 0.696664 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.45, Z:1.62 [[ 0.97366106 0.21257602 0.08243533 -4.22601752] [-0.20929176 0.97673643 -0.04672147 2.44710752] [-0.09044945 0.02823784 0.99550064 1.62290813] [ 0. 0. 0. 1. ]] SLAMing on 64.434839173 meters Centerline goodness : 0.699565 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.43, Z:1.63 [[ 0.97425296 0.21366201 0.07197025 -4.23408278] [-0.21119076 0.97660778 -0.04044392 2.43137397] [-0.07892804 0.02420315 0.99658646 1.63067738] [ 0. 0. 0. 1. ]] SLAMing on 64.464839173 meters Centerline goodness : 0.699777 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.43, Z:1.63 [[ 0.97405328 0.21460819 0.07185768 -4.23484704] [-0.21228954 0.9764452 -0.03857366 2.42591453] [-0.07844331 0.02231817 0.99666872 1.63173746] [ 0. 0. 0. 1. ]] SLAMing on 64.494839173 meters Centerline goodness : 0.681465 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.42, Z:1.63 [[ 0.97384544 0.21555563 0.07183886 -4.23667582] [-0.21339248 0.9762797 -0.0366277 2.41836971] [-0.07803012 0.02033984 0.99674349 1.63352202] [ 0. 0. 0. 1. ]] SLAMing on 64.524839173 meters Centerline goodness : 0.691313 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.40, Z:1.64 [[ 0.97422622 0.21379589 0.07193456 -4.24383263] [-0.21156643 0.97664808 -0.03739205 2.40292766] [-0.07824901 0.02120937 0.99670821 1.63936927] [ 0. 0. 0. 1. ]] SLAMing on 64.554839173 meters Centerline goodness : 0.700893 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.39, Z:1.64 [[ 0.97490334 0.21088277 0.07135783 -4.24628451] [-0.20855112 0.97724275 -0.03876902 2.39390404] [-0.07790964 0.0229143 0.99669706 1.64064858] [ 0. 0. 0. 1. ]] SLAMing on 64.584839173 meters Centerline goodness : 0.693393 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.37, Z:1.65 [[ 0.97700961 0.20045578 0.07259277 -4.25385587] [-0.19822206 0.97946449 -0.03684204 2.37473336] [-0.07848724 0.02160554 0.99668097 1.64841972] [ 0. 0. 0. 1. ]] SLAMing on 64.61483917300001 meters Centerline goodness : 0.699658 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.35, Z:1.66 [[ 0.97931872 0.18436091 0.08334209 -4.26198496] [-0.18230529 0.98273075 -0.03170248 2.35345941] [-0.08774754 0.01585313 0.99601659 1.65619411] [ 0. 0. 0. 1. ]] SLAMing on 64.64483917300001 meters Centerline goodness : 0.704094 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.34, Z:1.66 [[ 0.98026905 0.17896487 0.08392952 -4.26385687] [-0.17747309 0.98380879 -0.02497134 2.34238093] [-0.0870396 0.00958339 0.99615876 1.66460348] [ 0. 0. 0. 1. ]] SLAMing on 64.674839173 meters Centerline goodness : 0.719177 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.32, Z:1.67 [[ 9.80595321e-01 1.74604440e-01 8.91409338e-02 -4.27426238e+00] [-1.73585810e-01 9.84633229e-01 -1.91146827e-02 2.32290733e+00] [-9.11086340e-02 3.27016721e-03 9.95835590e-01 1.67384216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters Centerline goodness : 0.729199 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.31, Z:1.68 [[ 9.80548412e-01 1.74877109e-01 8.91224386e-02 -4.27609283e+00] [-1.74063527e-01 9.84589719e-01 -1.68811430e-02 2.31443240e+00] [-9.07011623e-02 1.03981192e-03 9.95877612e-01 1.67530294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.734839173 meters Centerline goodness : 0.519785 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.30, Z:1.68 [[ 9.81564115e-01 1.75660013e-01 7.53355709e-02 -4.27611541e+00] [-1.75060415e-01 9.84450294e-01 -1.45420032e-02 2.29786045e+00] [-7.67185734e-02 1.08563218e-03 9.97052196e-01 1.67711700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters Centerline goodness : 0.700286 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.29, Z:1.68 [[ 9.82097638e-01 1.77610774e-01 6.27586110e-02 -4.27925951e+00] [-1.77061902e-01 9.84096603e-01 -1.42463931e-02 2.28963239e+00] [-6.42908488e-02 2.87919002e-03 9.97927050e-01 1.67942585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794839173 meters Centerline goodness : 0.718423 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.27, Z:1.68 [[ 9.82097892e-01 1.77892589e-01 6.19512514e-02 -4.27750694e+00] [-1.77461425e-01 9.84049153e-01 -1.24381628e-02 2.27218365e+00] [-6.31757335e-02 1.22153615e-03 9.98001671e-01 1.67598765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters Centerline goodness : 0.704616 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.26, Z:1.67 [[ 9.81897510e-01 1.79073676e-01 6.17243697e-02 -4.27627737e+00] [-1.78828722e-01 9.83834206e-01 -9.51538207e-03 2.26493834e+00] [-6.24305007e-02 -1.69496016e-03 9.98047874e-01 1.67393905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.854839173 meters Centerline goodness : 0.763433 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.25, Z:1.67 [[ 0.98146391 0.18450713 0.05182385 -4.32553279] [-0.18506215 0.982708 0.00608194 2.25124121] [-0.04980555 -0.01555984 0.99863772 1.67121442] [ 0. 0. 0. 1. ]] SLAMing on 64.884839173 meters Centerline goodness : 0.712463 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.26, Z:1.68 [[ 0.98329129 0.17868586 0.03477937 -4.43392755] [-0.17938488 0.98361219 0.01811409 2.2558747 ] [-0.03097268 -0.02405032 0.99923084 1.67932913] [ 0. 0. 0. 1. ]] SLAMing on 64.914839173 meters Centerline goodness : 0.725712 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.25, Z:1.68 [[ 0.98505286 0.16818177 -0.03722576 -4.4272152 ] [-0.16756771 0.9856762 0.01906533 2.25088718] [ 0.03989898 -0.01254252 0.999125 1.67932997] [ 0. 0. 0. 1. ]] SLAMing on 64.944839173 meters Centerline goodness : 0.622369 Centerline is valid? [False, False] Translation: X:-4.21, Y:2.22, Z:1.67 [[ 0.98272415 0.18477633 0.01053329 -4.213419 ] [-0.18458021 0.98266567 -0.01727191 2.21710193] [-0.01354214 0.01502929 0.99979534 1.66997206] [ 0. 0. 0. 1. ]] SLAMing on 64.974839173 meters Centerline goodness : 0.954038 Centerline is valid? [False, True] Translation: X:-4.34, Y:2.20, Z:1.74 [[ 0.90352917 0.14214906 -0.40426314 -4.33821743] [-0.11633356 0.98931626 0.08786261 2.19815434] [ 0.41243369 -0.03235706 0.9104128 1.73537854] [ 0. 0. 0. 1. ]] SLAMing on 65.00483917300001 meters Centerline goodness : 0.646434 Centerline is valid? [True, False] Translation: X:-4.78, Y:2.28, Z:1.22 [[ 0.72565916 0.36308047 0.58445817 -4.78485446] [-0.22699098 0.92820806 -0.29479634 2.28078851] [-0.64953358 0.08125493 0.75597868 1.22183532] [ 0. 0. 0. 1. ]] SLAMing on 65.034839173 meters Centerline goodness : 0.599781 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.27, Z:1.24 [[ 0.74282525 0.34334879 0.57473668 -4.80958468] [-0.22379275 0.93643803 -0.27018626 2.27403642] [-0.63097341 0.07207927 0.77244879 1.24330481] [ 0. 0. 0. 1. ]] SLAMing on 65.064839173 meters Centerline goodness : 0.592602 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.28, Z:1.26 [[ 0.73134206 0.37504262 0.56963306 -4.78644988] [-0.23083946 0.92205087 -0.31070136 2.2828951 ] [-0.64175691 0.09573519 0.76090922 1.25939698] [ 0. 0. 0. 1. ]] SLAMing on 65.094839173 meters Centerline goodness : 0.608537 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.28, Z:1.30 [[ 0.73536174 0.36112576 0.57343813 -4.82295108] [-0.22644149 0.92848779 -0.29433769 2.281197 ] [-0.63872323 0.08659449 0.76454825 1.29936019] [ 0. 0. 0. 1. ]] SLAMing on 65.124839173 meters Centerline goodness : 0.669713 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.28, Z:1.43 [[ 0.75137224 0.32291623 0.57546926 -4.93681851] [-0.20882333 0.94362229 -0.25684586 2.27941302] [-0.62596531 0.07281544 0.77644403 1.42581714] [ 0. 0. 0. 1. ]] SLAMing on 65.154839173 meters Centerline goodness : 0.672643 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.26, Z:1.31 [[ 0.73015393 0.37040027 0.5741767 -4.77069493] [-0.2208107 0.92314259 -0.31472273 2.26331984] [-0.64662035 0.10301168 0.75582453 1.30716133] [ 0. 0. 0. 1. ]] SLAMing on 65.184839173 meters Centerline goodness : 0.616315 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.26, Z:1.34 [[ 0.73034126 0.35542764 0.5833291 -4.80182699] [-0.21448031 0.93009931 -0.29818361 2.2559066 ] [-0.64853669 0.09266319 0.75552214 1.34492767] [ 0. 0. 0. 1. ]] SLAMing on 65.214839173 meters Centerline goodness : 0.684545 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.24, Z:1.38 [[ 0.72342146 0.33801992 0.60199993 -4.82797206] [-0.20850281 0.93820011 -0.27623744 2.23642802] [-0.65817016 0.07431742 0.7491922 1.38263362] [ 0. 0. 0. 1. ]] SLAMing on 65.244839173 meters Centerline goodness : 0.657923 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.21, Z:1.41 [[ 0.72167524 0.31683116 0.61546963 -4.84780736] [-0.20497626 0.94704329 -0.24717148 2.21432648] [-0.66118801 0.05222088 0.74840056 1.4116811 ] [ 0. 0. 0. 1. ]] SLAMing on 65.274839173 meters Centerline goodness : 0.660516 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.20, Z:1.43 [[ 0.72488483 0.30542727 0.61745944 -4.86419424] [-0.20491969 0.95136601 -0.23002312 2.2016303 ] [-0.65768526 0.04021068 0.75221885 1.42732834] [ 0. 0. 0. 1. ]] SLAMing on 65.304839173 meters Centerline goodness : 0.730008 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.18, Z:1.46 [[ 0.73127206 0.30218714 0.61149334 -4.90657488] [-0.20851527 0.95262754 -0.22140945 2.1829618 ] [-0.64943248 0.03440485 0.75964054 1.46059077] [ 0. 0. 0. 1. ]] SLAMing on 65.334839173 meters Centerline goodness : 0.742927 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.11, Z:1.49 [[ 0.76937134 0.21398507 0.60189544 -4.88688443] [-0.19654402 0.97581462 -0.09568841 2.11142415] [-0.60781427 -0.04467903 0.79282129 1.49211208] [ 0. 0. 0. 1. ]] SLAMing on 65.36483917300001 meters Centerline goodness : 0.988347 Centerline is valid? [False, True] Translation: X:-4.67, Y:2.18, Z:2.14 [[ 6.20349452e-01 -6.87200052e-02 -7.81309234e-01 -4.67238111e+00] [ 1.11724934e-01 9.93738315e-01 1.30396470e-03 2.18156844e+00] [ 7.76327313e-01 -8.81006367e-02 6.24142757e-01 2.13744920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39483917300001 meters Centerline goodness : 0.661381 Centerline is valid? [True, False] Translation: X:-4.85, Y:4.27, Z:1.97 [[ 0.99608322 -0.06305314 0.06198804 -4.85108941] [ 0.08642481 0.8423906 -0.53189174 4.27129313] [-0.0186807 0.53516574 0.8445405 1.97076955] [ 0. 0. 0. 1. ]] SLAMing on 65.424839173 meters Centerline goodness : 0.513302 Centerline is valid? [False, False] Translation: X:-4.76, Y:4.22, Z:1.98 [[ 0.9867264 0.14426519 -0.07455582 -4.76395921] [-0.16122258 0.81528849 -0.55615822 4.21641235] [-0.01944977 0.56079608 0.82772548 1.98295737] [ 0. 0. 0. 1. ]] SLAMing on 65.454839173 meters Centerline goodness : 0.597858 Centerline is valid? [False, False] Translation: X:-4.53, Y:4.17, Z:1.99 [[ 0.97373144 0.21689648 -0.06930367 -4.53263684] [-0.2175015 0.7959241 -0.56497604 4.17383335] [-0.06738086 0.56520858 0.82219163 1.98567526] [ 0. 0. 0. 1. ]] SLAMing on 65.484839173 meters Centerline goodness : 0.332908 Centerline is valid? [False, False] Translation: X:-4.60, Y:4.17, Z:2.00 [[ 0.97687166 0.1884538 -0.1010293 -4.59740261] [-0.21342905 0.83056278 -0.51440598 4.17109351] [-0.01303058 0.52407122 0.85157475 1.99870541] [ 0. 0. 0. 1. ]] SLAMing on 65.514839173 meters Centerline goodness : 0.909483 Centerline is valid? [False, False] Translation: X:-4.70, Y:5.06, Z:2.73 [[ 0.50754175 -0.46917029 -0.72268985 -4.7041444 ] [ 0.7491461 0.6546395 0.10112984 5.05707314] [ 0.4256542 -0.5927279 0.68373397 2.72868226] [ 0. 0. 0. 1. ]] SLAMing on 65.544839173 meters Centerline goodness : 0.656264 Centerline is valid? [False, False] Translation: X:-4.04, Y:5.38, Z:2.71 [[ 0.41808508 -0.48558468 -0.76773197 -4.03746126] [ 0.62849685 0.7648347 -0.1414906 5.38301063] [ 0.65589372 -0.42336202 0.62495442 2.70859817] [ 0. 0. 0. 1. ]] SLAMing on 65.574839173 meters Centerline goodness : 0.661088 Centerline is valid? [False, False] Translation: X:-4.13, Y:5.19, Z:2.53 [[ 0.45549923 -0.51377101 -0.72702118 -4.12783075] [ 0.68524483 0.72367289 -0.08207967 5.18727575] [ 0.56829567 -0.46080028 0.68169137 2.52687068] [ 0. 0. 0. 1. ]] SLAMing on 65.604839173 meters Centerline goodness : 0.643394 Centerline is valid? [False, False] Translation: X:-4.06, Y:5.27, Z:2.65 [[ 0.51321439 -0.40972371 -0.75414686 -4.06418348] [ 0.68491471 0.72503811 0.07219122 5.26743005] [ 0.51720676 -0.55357585 0.65272578 2.64785988] [ 0. 0. 0. 1. ]] SLAMing on 65.634839173 meters Centerline goodness : 0.645223 Centerline is valid? [False, False] Translation: X:-4.10, Y:5.22, Z:2.62 [[ 0.52985651 -0.41478319 -0.7397344 -4.10099156] [ 0.67967902 0.72936442 0.07787154 5.22143625] [ 0.50723615 -0.54404269 0.66837792 2.61582744] [ 0. 0. 0. 1. ]] SLAMing on 65.664839173 meters Centerline goodness : 0.680426 Centerline is valid? [False, False] Translation: X:-4.17, Y:5.13, Z:2.56 [[ 0.54382955 -0.41748931 -0.72797809 -4.16938016] [ 0.67338046 0.73477268 0.08165693 5.12930486] [ 0.50080752 -0.53461367 0.68072024 2.56091809] [ 0. 0. 0. 1. ]] SLAMing on 65.694839173 meters Centerline goodness : 0.689067 Centerline is valid? [False, False] Translation: X:-4.21, Y:5.08, Z:2.53 [[ 0.54781718 -0.41718654 -0.72515635 -4.20640251] [ 0.67330033 0.73432954 0.08617878 5.07732324] [ 0.4965511 -0.53545823 0.68317018 2.52929256] [ 0. 0. 0. 1. ]] SLAMing on 65.724839173 meters Centerline goodness : 0.722675 Centerline is valid? [False, False] Translation: X:-4.24, Y:5.03, Z:2.50 [[ 0.55129274 -0.4193761 -0.72124892 -4.23861723] [ 0.67244982 0.73506065 0.08658569 5.02667186] [ 0.49384973 -0.53273777 0.68724298 2.50084051] [ 0. 0. 0. 1. ]] SLAMing on 65.75483917300001 meters Centerline goodness : 0.722675 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.01, Z:2.49 [[ 0.5519118 -0.42586187 -0.71696237 -4.25624783] [ 0.67217758 0.73602797 0.08025036 5.00812383] [ 0.49352879 -0.52621716 0.69247732 2.48661088] [ 0. 0. 0. 1. ]] SLAMing on 65.784839173 meters Centerline goodness : 0.716255 Centerline is valid? [False, False] Translation: X:-4.28, Y:4.97, Z:2.47 [[ 0.55383415 -0.42869926 -0.71378195 -4.27758013] [ 0.67141939 0.7369224 0.07836693 4.9734565 ] [ 0.49240606 -0.52264933 0.69596979 2.46871636] [ 0. 0. 0. 1. ]] SLAMing on 65.814839173 meters Centerline goodness : 0.744921 Centerline is valid? [False, False] Translation: X:-4.32, Y:4.89, Z:2.43 [[ 0.55428383 -0.43299353 -0.71083475 -4.31974676] [ 0.66453929 0.74444557 0.06471724 4.89344049] [ 0.50115563 -0.50824934 0.70037536 2.43006024] [ 0. 0. 0. 1. ]] SLAMing on 65.844839173 meters Centerline goodness : 0.799931 Centerline is valid? [False, False] Translation: X:-4.41, Y:4.68, Z:2.34 [[ 0.63914695 -0.34333915 -0.68819285 -4.41060482] [ 0.6352199 0.74012631 0.22070053 4.67982333] [ 0.4335745 -0.57821386 0.69114534 2.33677304] [ 0. 0. 0. 1. ]] SLAMing on 65.874839173 meters Centerline goodness : 0.655397 Centerline is valid? [False, False] Translation: X:-4.28, Y:4.77, Z:2.38 [[ 0.66614546 -0.33049817 -0.66859643 -4.27921468] [ 0.60837466 0.75935465 0.23078301 4.77385831] [ 0.43142845 -0.56049218 0.70690736 2.37992075] [ 0. 0. 0. 1. ]] SLAMing on 65.904839173 meters Centerline goodness : 0.729193 Centerline is valid? [False, False] Translation: X:-4.40, Y:4.67, Z:2.32 [[ 0.65079593 -0.34278687 -0.67746721 -4.39554045] [ 0.61540328 0.76074973 0.20624899 4.6702093 ] [ 0.44468355 -0.55114154 0.706045 2.3236906 ] [ 0. 0. 0. 1. ]] SLAMing on 65.934839173 meters Centerline goodness : 0.731663 Centerline is valid? [False, False] Translation: X:-4.28, Y:4.74, Z:2.39 [[ 0.62578121 -0.26774295 -0.73260603 -4.28127497] [ 0.59481201 0.77139486 0.22616064 4.73933967] [ 0.50457561 -0.57728994 0.64198113 2.38706929] [ 0. 0. 0. 1. ]] SLAMing on 65.964839173 meters Centerline goodness : 0.697343 Centerline is valid? [False, False] Translation: X:-4.33, Y:4.68, Z:2.33 [[ 0.74653768 -0.23581244 -0.6221527 -4.32734092] [ 0.53539846 0.76806311 0.35132257 4.67522451] [ 0.39500631 -0.59537513 0.69964167 2.32520464] [ 0. 0. 0. 1. ]] SLAMing on 65.994839173 meters Centerline goodness : 0.666774 Centerline is valid? [False, False] Translation: X:-4.28, Y:4.75, Z:2.36 [[ 0.74166093 -0.24553114 -0.62422234 -4.28259926] [ 0.51999214 0.7983144 0.30381292 4.75352042] [ 0.42373015 -0.54991688 0.71975286 2.36277213] [ 0. 0. 0. 1. ]] SLAMing on 66.024839173 meters Centerline goodness : 0.755871 Centerline is valid? [False, False] Translation: X:-4.36, Y:4.69, Z:2.34 [[ 0.72542674 -0.2447285 -0.64332263 -4.36027216] [ 0.5130233 0.81535812 0.26832485 4.69443913] [ 0.45887159 -0.52468952 0.71703401 2.34396191] [ 0. 0. 0. 1. ]] SLAMing on 66.054839173 meters Centerline goodness : 0.616797 Centerline is valid? [False, False] Translation: X:-4.40, Y:4.69, Z:2.34 [[ 0.72226025 -0.29871961 -0.62378419 -4.4024843 ] [ 0.53678665 0.81084133 0.23323043 4.68736842] [ 0.4361195 -0.5032921 0.74598716 2.34012388] [ 0. 0. 0. 1. ]] SLAMing on 66.084839173 meters Centerline goodness : 0.612432 Centerline is valid? [False, False] Translation: X:-4.36, Y:4.72, Z:2.36 [[ 0.7362306 -0.29962473 -0.60678623 -4.35948231] [ 0.52811063 0.81505136 0.23830743 4.71936813] [ 0.42315915 -0.49589948 0.75830076 2.35680221] [ 0. 0. 0. 1. ]] SLAMing on 66.11483917300001 meters Centerline goodness : 0.669510 Centerline is valid? [False, False] Translation: X:-4.34, Y:4.72, Z:2.36 [[ 0.71970417 -0.27993195 -0.63534558 -4.34011046] [ 0.52856573 0.81426424 0.23998337 4.72178476] [ 0.45016018 -0.50853893 0.7339918 2.3561664 ] [ 0. 0. 0. 1. ]] SLAMing on 66.14483917300001 meters Centerline goodness : 0.909211 Centerline is valid? [False, False] Translation: X:-5.68, Y:6.49, Z:1.87 [[ 0.90661007 -0.42018922 0.03871957 -5.68201374] [ 0.42165793 0.89859389 -0.12138211 6.48637404] [ 0.01621028 0.12637265 0.99185038 1.8734437 ] [ 0. 0. 0. 1. ]] SLAMing on 66.174839173 meters Centerline goodness : 0.973694 Centerline is valid? [False, True] Translation: X:-5.39, Y:6.76, Z:1.80 [[ 0.91596729 -0.31245763 0.25174221 -5.38626673] [ 0.35648775 0.92166543 -0.15313172 6.7627977 ] [-0.18417492 0.23000666 0.95560271 1.79715932] [ 0. 0. 0. 1. ]] SLAMing on 66.204839173 meters Centerline goodness : 0.734970 Centerline is valid? [True, False] Translation: X:-5.31, Y:6.78, Z:1.74 [[ 0.95359943 -0.29016653 0.08032127 -5.3106266 ] [ 0.29963293 0.94073596 -0.15885831 6.78072779] [-0.02946574 0.17555409 0.98402872 1.74171372] [ 0. 0. 0. 1. ]] SLAMing on 66.234839173 meters Centerline goodness : 0.844356 Centerline is valid? [False, False] Translation: X:-5.68, Y:8.98, Z:2.94 [[ 0.82369225 -0.43751785 0.36070655 -5.68378017] [ 0.49944166 0.25857908 -0.82685845 8.98137456] [ 0.26849416 0.86122877 0.43150422 2.94059746] [ 0. 0. 0. 1. ]] SLAMing on 66.264839173 meters Centerline goodness : 0.797108 Centerline is valid? [False, False] Translation: X:-5.65, Y:8.77, Z:2.86 [[ 9.01671784e-01 -4.32337152e-01 8.51945598e-03 -5.65005441e+00] [ 2.01652228e-01 4.02969350e-01 -8.92721727e-01 8.77267913e+00] [ 3.82523690e-01 8.06659959e-01 4.50527842e-01 2.86286407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.294839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-5.38, Y:6.85, Z:4.55 [[ 0.93560602 -0.32705667 0.13294851 -5.37717378] [-0.05591746 0.23454426 0.97049587 6.84740322] [-0.34858945 -0.91543592 0.20115284 4.55416686] [ 0. 0. 0. 1. ]] SLAMing on 66.324839173 meters Centerline goodness : 0.461517 Centerline is valid? [True, False] Translation: X:-4.65, Y:7.89, Z:3.90 [[ 0.18080551 -0.11041234 -0.97730163 -4.64965858] [-0.66988607 0.71372625 -0.2045666 7.88743399] [ 0.7201125 0.69166752 0.05508195 3.89597774] [ 0. 0. 0. 1. ]] SLAMing on 66.354839173 meters Centerline goodness : 0.964439 Centerline is valid? [False, True] Translation: X:-5.20, Y:8.09, Z:3.15 [[ 0.9702617 0.15228264 -0.18815478 -5.20193333] [-0.19846139 0.94549334 -0.25817713 8.08507263] [ 0.1385832 0.28784084 0.9475982 3.1485335 ] [ 0. 0. 0. 1. ]] SLAMing on 66.384839173 meters Centerline goodness : 0.845765 Centerline is valid? [True, False] Translation: X:-4.43, Y:7.83, Z:3.04 [[ 0.58258924 0.76894428 -0.26327641 -4.43427699] [-0.68281747 0.28735208 -0.6717061 7.8266867 ] [-0.44085154 0.57109848 0.69245682 3.04255816] [ 0. 0. 0. 1. ]] SLAMing on 66.414839173 meters Centerline goodness : 0.958603 Centerline is valid? [False, True] Translation: X:-5.51, Y:7.67, Z:3.74 [[-0.75966077 0.4119195 0.50322742 -5.50865504] [-0.42937331 0.26347395 -0.86384029 7.67164392] [-0.48841997 -0.872298 -0.02328358 3.74023198] [ 0. 0. 0. 1. ]] SLAMing on 66.444839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.15, Y:7.54, Z:4.59 [[ 0.09301228 0.66259768 -0.74317766 -4.14683614] [-0.83371937 -0.35621018 -0.42193165 7.53624439] [-0.54429838 0.65884643 0.5192886 4.58871629] [ 0. 0. 0. 1. ]] SLAMing on 66.474839173 meters Centerline goodness : 0.797741 Centerline is valid? [True, False] Translation: X:-4.02, Y:7.43, Z:2.47 [[ 0.95347138 -0.11402254 -0.27908993 -4.01693786] [ 0.17498372 0.96313849 0.2043158 7.42614259] [ 0.24550564 -0.24364546 0.93827707 2.46533893] [ 0. 0. 0. 1. ]] SLAMing on 66.50483917300001 meters Centerline goodness : 0.530718 Centerline is valid? [False, False] Translation: X:-3.78, Y:7.55, Z:2.56 [[ 0.92815899 -0.05533612 -0.36804728 -3.78160108] [ 0.11961857 0.980772 0.15420011 7.54729763] [ 0.35243763 -0.18714751 0.91693158 2.56149513] [ 0. 0. 0. 1. ]] SLAMing on 66.534839173 meters Centerline goodness : 0.600929 Centerline is valid? [False, False] Translation: X:-3.75, Y:7.58, Z:2.57 [[ 0.94777122 -0.10031846 -0.30276381 -3.75425835] [ 0.14943145 0.97828411 0.14363299 7.57520922] [ 0.28177999 -0.18137364 0.94218026 2.56821685] [ 0. 0. 0. 1. ]] SLAMing on 66.564839173 meters Centerline goodness : 0.572806 Centerline is valid? [False, False] Translation: X:-4.02, Y:7.50, Z:2.59 [[ 0.87610599 -0.1030313 -0.47098073 -4.02038146] [ 0.15318125 0.98576529 0.06929864 7.50298393] [ 0.45713652 -0.13285837 0.87941734 2.58973622] [ 0. 0. 0. 1. ]] SLAMing on 66.594839173 meters Centerline goodness : 0.961948 Centerline is valid? [False, True] Translation: X:-3.64, Y:7.40, Z:2.10 [[ 0.97369199 0.07385699 -0.2155668 -3.63671416] [-0.08658947 0.99497757 -0.05021845 7.39678396] [ 0.21077515 0.06756312 0.97519694 2.09570247] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters Centerline goodness : 0.796354 Centerline is valid? [True, False] Translation: X:-4.12, Y:5.13, Z:3.18 [[ 0.97489428 0.20642247 0.08349202 -4.12012215] [-0.15633791 0.36754688 0.91677028 5.13484942] [ 0.15855475 -0.90680707 0.39059101 3.17801419] [ 0. 0. 0. 1. ]] SLAMing on 66.654839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-4.49, Y:5.46, Z:3.22 [[ 0.8543706 0.49634188 -0.15393381 -4.49351963] [-0.36365339 0.78264776 0.50519174 5.46478918] [ 0.37122377 -0.37564242 0.84916764 3.21782722] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.714839173 meters Centerline is valid? [True, False] Translation: X:-3.83, Y:8.42, Z:2.81 [[ 0.10565152 -0.75440859 0.64784677 -3.83431293] [ 0.40118733 -0.56378121 -0.72194146 8.41694096] [ 0.90988268 0.33618212 0.24309483 2.80797772] [ 0. 0. 0. 1. ]] SLAMing on 66.744839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.774839173 meters SLAMing on 66.804839173 meters SLAMing on 66.834839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] SLAMing on 66.86483917300001 meters Centerline goodness : 0.753927 Centerline is valid? [True, False] Translation: X:-4.40, Y:5.34, Z:2.83 [[ 0.76335247 -0.14708575 0.62901414 -4.40143921] [-0.10342745 0.93334262 0.34376492 5.34251648] [-0.63764862 -0.32747113 0.69725669 2.83381091] [ 0. 0. 0. 1. ]] SLAMing on 66.89483917300001 meters Centerline goodness : 0.985371 Centerline is valid? [False, True] Translation: X:-4.50, Y:6.60, Z:2.64 [[ 0.65986394 -0.20440059 0.72304909 -4.49740403] [ 0.74910968 0.10412753 -0.65421109 6.59653843] [ 0.05843182 0.97333337 0.22182847 2.64095194] [ 0. 0. 0. 1. ]] SLAMing on 66.924839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-4.78, Y:6.97, Z:2.91 [[ 0.81587328 -0.56920979 0.1017399 -4.78349991] [ 0.56015987 0.82168895 0.10511037 6.9749944 ] [-0.14342841 -0.02876613 0.98924254 2.90741637] [ 0. 0. 0. 1. ]] SLAMing on 66.954839173 meters Centerline goodness : 0.530375 Centerline is valid? [True, False] Translation: X:-6.17, Y:9.36, Z:1.78 [[ 0.70988745 0.31923735 0.62781153 -6.16917111] [ 0.1274093 0.81846628 -0.56024979 9.36151137] [-0.69269522 0.47770332 0.54034513 1.77997869] [ 0. 0. 0. 1. ]] SLAMing on 66.984839173 meters Centerline goodness : 0.990419 Centerline is valid? [False, True] Translation: X:-5.82, Y:7.26, Z:1.11 [[ 0.88949527 -0.43809354 0.1298931 -5.82080756] [ 0.4469538 0.89327168 -0.04793743 7.25851138] [-0.09502874 0.10069633 0.99036851 1.11140752] [ 0. 0. 0. 1. ]] SLAMing on 67.014839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 67.044839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 67.074839173 meters Centerline goodness : 0.947526 Centerline is valid? [True, False] Translation: X:-6.05, Y:7.18, Z:1.52 [[ 0.85368724 -0.34411329 0.39090169 -6.04579598] [ 0.48207637 0.80612703 -0.34316408 7.17742817] [-0.1970291 0.48139926 0.85406925 1.52441192] [ 0. 0. 0. 1. ]] SLAMing on 67.104839173 meters Centerline goodness : 0.649011 Centerline is valid? [False, False] Translation: X:-5.96, Y:9.36, Z:2.61 [[ 0.87174384 0.34839968 0.34450014 -5.96008205] [ 0.24018006 0.30897868 -0.9202422 9.35700064] [-0.42705529 0.88495753 0.1856716 2.60969969] [ 0. 0. 0. 1. ]] SLAMing on 67.134839173 meters Centerline goodness : 0.801434 Centerline is valid? [False, False] Translation: X:-5.97, Y:7.81, Z:1.20 [[ 0.22705553 -0.56315234 -0.79454718 -5.96845914] [ 0.81177294 -0.34128159 0.47386873 7.81346182] [-0.53802461 -0.75258642 0.37966196 1.20464951] [ 0. 0. 0. 1. ]] SLAMing on 67.164839173 meters Centerline goodness : 0.693796 Centerline is valid? [False, False] Translation: X:-6.15, Y:8.06, Z:1.14 [[ 0.07674952 -0.73616179 -0.67243983 -6.15140318] [ 0.95375168 -0.14238453 0.26473452 8.06022162] [-0.29063247 -0.66165887 0.6911876 1.13620812] [ 0. 0. 0. 1. ]] SLAMing on 67.194839173 meters Centerline goodness : 0.674721 Centerline is valid? [False, False] Translation: X:-6.07, Y:7.84, Z:1.21 [[ 0.16975217 -0.6516475 -0.73928326 -6.07090929] [ 0.92052534 -0.16300661 0.35505203 7.84369218] [-0.35187683 -0.74079982 0.57218731 1.21387758] [ 0. 0. 0. 1. ]] SLAMing on 67.224839173 meters Centerline goodness : 0.923894 Centerline is valid? [False, False] Translation: X:-5.64, Y:8.54, Z:3.08 [[ 0.71063969 0.39783591 -0.58027392 -5.64266616] [-0.69151633 0.24303477 -0.68024941 8.53704359] [-0.12960091 0.88468112 0.44782018 3.08112604] [ 0. 0. 0. 1. ]] SLAMing on 67.25483917300001 meters Centerline goodness : 0.909689 Centerline is valid? [False, False] Translation: X:-6.02, Y:8.14, Z:2.83 [[-0.38745504 0.31189277 -0.86752608 -6.01765142] [ 0.85307192 0.47805085 -0.20913078 8.14441525] [ 0.3494952 -0.82109091 -0.45129017 2.83011763] [ 0. 0. 0. 1. ]] SLAMing on 67.284839173 meters Centerline goodness : 0.567888 Centerline is valid? [False, False] Translation: X:-7.24, Y:8.14, Z:2.34 [[ 0.0956461 0.29663595 0.95018889 -7.23753558] [-0.56270478 0.80352171 -0.19420655 8.13529303] [-0.82110606 -0.51610073 0.24377219 2.33977675] [ 0. 0. 0. 1. ]] SLAMing on 67.314839173 meters Centerline goodness : 0.645399 Centerline is valid? [False, False] Translation: X:-7.17, Y:8.09, Z:2.26 [[ 0.0863984 0.32996317 0.94003171 -7.17304245] [-0.56208216 0.7951889 -0.22746047 8.09471973] [-0.82255636 -0.50872283 0.25416946 2.26197387] [ 0. 0. 0. 1. ]] SLAMing on 67.344839173 meters Centerline goodness : 0.690911 Centerline is valid? [False, False] Translation: X:-7.18, Y:8.06, Z:2.22 [[ 0.05367277 0.30689925 0.95022739 -7.18082337] [-0.54968331 0.80352353 -0.22846926 8.06397478] [-0.83364711 -0.51006155 0.21182473 2.224248 ] [ 0. 0. 0. 1. ]] SLAMing on 67.374839173 meters Centerline goodness : 0.617855 Centerline is valid? [False, False] Translation: X:-7.22, Y:8.07, Z:2.19 [[ 0.04934269 0.30968838 0.94955695 -7.21936087] [-0.49405994 0.8338204 -0.24626879 8.06628631] [-0.86802654 -0.45698648 0.19414757 2.1937552 ] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters Centerline goodness : 0.797256 Centerline is valid? [False, False] Translation: X:-7.04, Y:8.04, Z:2.15 [[ 0.18299758 0.43817574 0.88006472 -7.03939025] [-0.57926961 0.77134048 -0.2635917 8.03895815] [-0.79432903 -0.4615581 0.39497533 2.15196916] [ 0. 0. 0. 1. ]] SLAMing on 67.434839173 meters Centerline goodness : 0.850394 Centerline is valid? [False, False] Translation: X:-7.03, Y:8.16, Z:2.31 [[ 0.27908498 0.50233706 0.81839419 -7.03394777] [-0.5900051 0.76211695 -0.26659284 8.15923019] [-0.75763154 -0.40845469 0.50907682 2.30758243] [ 0. 0. 0. 1. ]] SLAMing on 67.464839173 meters Centerline goodness : 0.721598 Centerline is valid? [False, False] Translation: X:-6.98, Y:7.99, Z:2.13 [[ 0.23170546 0.47551907 0.84864256 -6.97701295] [-0.64329088 0.72930278 -0.23301138 7.98893486] [-0.72971873 -0.491934 0.47488052 2.13397071] [ 0. 0. 0. 1. ]] SLAMing on 67.494839173 meters Centerline goodness : 0.497506 Centerline is valid? [False, False] Translation: X:-6.96, Y:7.96, Z:2.07 [[ 0.16931359 0.49522852 0.85210423 -6.9646761 ] [-0.63172414 0.71815406 -0.29185501 7.95924286] [-0.75647704 -0.48887979 0.43444106 2.07384659] [ 0. 0. 0. 1. ]] SLAMing on 67.524839173 meters Centerline goodness : 0.637210 Centerline is valid? [False, False] Translation: X:-6.97, Y:8.17, Z:2.32 [[ 0.15743072 0.51577706 0.84213395 -6.97298568] [-0.63885288 0.70347761 -0.31142616 8.16870892] [-0.75304885 -0.48897166 0.44025465 2.31885063] [ 0. 0. 0. 1. ]] SLAMing on 67.554839173 meters Centerline goodness : 0.636612 Centerline is valid? [False, False] Translation: X:-6.98, Y:8.31, Z:2.49 [[ 0.15219767 0.52996035 0.8342529 -6.98270279] [-0.6423817 0.69452602 -0.32400518 8.31333006] [-0.75112025 -0.48659596 0.44614207 2.49175855] [ 0. 0. 0. 1. ]] SLAMing on 67.584839173 meters Centerline goodness : 0.646801 Centerline is valid? [False, False] Translation: X:-6.99, Y:8.44, Z:2.64 [[ 0.14714713 0.54544902 0.82512611 -6.988076 ] [-0.64507234 0.68530852 -0.33798507 8.44297088] [-0.74981957 -0.4825325 0.45269526 2.64314333] [ 0. 0. 0. 1. ]] SLAMing on 67.61483917300001 meters Centerline goodness : 0.674929 Centerline is valid? [False, False] Translation: X:-6.99, Y:8.62, Z:2.86 [[ 0.14553788 0.55585788 0.81843799 -6.9916207 ] [-0.64585973 0.6800361 -0.34701025 8.61938906] [-0.74945576 -0.47809301 0.45797723 2.86041779] [ 0. 0. 0. 1. ]] SLAMing on 67.64483917300001 meters Centerline goodness : 0.674929 Centerline is valid? [False, False] Translation: X:-7.01, Y:8.79, Z:3.08 [[ 0.15033605 0.56719963 0.80974295 -7.00651426] [-0.65064268 0.67343652 -0.35092358 8.78554654] [-0.7443542 -0.47409686 0.47028607 3.07580432] [ 0. 0. 0. 1. ]] SLAMing on 67.674839173 meters Centerline goodness : 0.687576 Centerline is valid? [False, False] Translation: X:-7.00, Y:8.84, Z:3.14 [[ 0.15318675 0.57677757 0.80240978 -7.00290485] [-0.65063688 0.67002433 -0.35740598 8.84128737] [-0.74377783 -0.46732754 0.47791161 3.13557032] [ 0. 0. 0. 1. ]] SLAMing on 67.704839173 meters Centerline goodness : 0.679636 Centerline is valid? [False, False] Translation: X:-6.99, Y:8.88, Z:3.17 [[ 0.16041021 0.59746121 0.78568993 -6.99045789] [-0.65052886 0.66265242 -0.37108486 8.88358134] [-0.74234815 -0.45158817 0.49496197 3.16669946] [ 0. 0. 0. 1. ]] SLAMing on 67.734839173 meters Centerline goodness : 0.676850 Centerline is valid? [False, False] Translation: X:-7.00, Y:9.06, Z:3.37 [[ 0.16191187 0.59849193 0.78459669 -7.00332794] [-0.64700456 0.66472337 -0.37353439 9.05836304] [-0.74509707 -0.44715798 0.49485361 3.36933654] [ 0. 0. 0. 1. ]] SLAMing on 67.764839173 meters Centerline goodness : 0.692303 Centerline is valid? [False, False] Translation: X:-7.02, Y:9.25, Z:3.60 [[ 0.16559626 0.60080273 0.78205752 -7.02093377] [-0.64768783 0.66426466 -0.37316608 9.24521879] [-0.74369237 -0.44473423 0.49913236 3.59969483] [ 0. 0. 0. 1. ]] SLAMing on 67.794839173 meters Centerline goodness : 0.749034 Centerline is valid? [False, False] Translation: X:-7.03, Y:9.40, Z:3.79 [[ 0.16678511 0.61420175 0.77132285 -7.02708362] [-0.64825624 0.65774352 -0.38358481 9.40438128] [-0.74293107 -0.43603861 0.50786194 3.78640953] [ 0. 0. 0. 1. ]] SLAMing on 67.824839173 meters Centerline goodness : 0.701310 Centerline is valid? [False, False] Translation: X:-7.04, Y:9.56, Z:3.98 [[ 0.17086834 0.62447287 0.76212705 -7.0430352 ] [-0.65052303 0.65244766 -0.3887568 9.56290776] [-0.74001608 -0.42935497 0.51771663 3.97671682] [ 0. 0. 0. 1. ]] SLAMing on 67.854839173 meters Centerline goodness : 0.767407 Centerline is valid? [False, False] Translation: X:-7.06, Y:9.72, Z:4.16 [[ 0.17488129 0.63194591 0.75502378 -7.05986747] [-0.65143071 0.64926758 -0.39254254 9.71673857] [-0.73827811 -0.42319733 0.52521372 4.15956132] [ 0. 0. 0. 1. ]] SLAMing on 67.884839173 meters Centerline goodness : 0.707502 Centerline is valid? [False, False] Translation: X:-7.08, Y:9.89, Z:4.36 [[ 0.17751961 0.63133401 0.75491997 -7.08017051] [-0.64736766 0.65268038 -0.39360313 9.88925526] [-0.7412165 -0.4188385 0.52456879 4.35687367] [ 0. 0. 0. 1. ]] SLAMing on 67.914839173 meters Centerline goodness : 0.711004 Centerline is valid? [False, False] Translation: X:-7.10, Y:10.03, Z:4.52 [[ 0.18223006 0.63218676 0.75308174 -7.09982432] [-0.64616515 0.65429405 -0.39289934 10.03163095] [-0.74112266 -0.41501711 0.5277291 4.52340069] [ 0. 0. 0. 1. ]] SLAMing on 67.944839173 meters Centerline goodness : 0.709775 Centerline is valid? [False, False] Translation: X:-7.12, Y:10.17, Z:4.68 [[ 0.19050259 0.63237291 0.750875 -7.1163382 ] [-0.64447223 0.65753667 -0.3902577 10.17216195] [-0.74051624 -0.40957299 0.53280922 4.684043 ] [ 0. 0. 0. 1. ]] SLAMing on 67.974839173 meters Centerline goodness : 0.716863 Centerline is valid? [False, False] Translation: X:-7.13, Y:10.30, Z:4.83 [[ 0.19466587 0.6404852 0.74288889 -7.13409899] [-0.64670718 0.65325151 -0.3937414 10.30300926] [-0.73747883 -0.40378356 0.54137215 4.8310067 ] [ 0. 0. 0. 1. ]] SLAMing on 68.00483917300001 meters Centerline goodness : 0.711866 Centerline is valid? [False, False] Translation: X:-7.15, Y:10.43, Z:4.98 [[ 0.19890863 0.64663732 0.73640718 -7.1539824 ] [-0.65109335 0.64881116 -0.3938547 10.43060911] [-0.73247034 -0.40112872 0.5500754 4.97564559] [ 0. 0. 0. 1. ]] SLAMing on 68.034839173 meters Centerline goodness : 0.702787 Centerline is valid? [False, False] Translation: X:-7.17, Y:10.57, Z:5.13 [[ 0.20240863 0.64992145 0.73255228 -7.17452359] [-0.65977642 0.64328851 -0.38842628 10.57284129] [-0.72368903 -0.40469989 0.55901 5.12654624] [ 0. 0. 0. 1. ]] SLAMing on 68.064839173 meters Centerline goodness : 0.708106 Centerline is valid? [False, False] Translation: X:-7.19, Y:10.71, Z:5.28 [[ 0.20551709 0.65370017 0.7283123 -7.1942986 ] [-0.665544 0.63896986 -0.38570547 10.70988324] [-0.71750534 -0.40545482 0.56638545 5.28022349] [ 0. 0. 0. 1. ]] SLAMing on 68.094839173 meters Centerline goodness : 0.707432 Centerline is valid? [False, False] Translation: X:-7.21, Y:10.85, Z:5.43 [[ 0.20450305 0.6626289 0.72048694 -7.20911953] [-0.67132184 0.63061454 -0.38942559 10.84601634] [-0.71239419 -0.4040399 0.57379985 5.4287449 ] [ 0. 0. 0. 1. ]] SLAMing on 68.124839173 meters Centerline goodness : 0.711543 Centerline is valid? [False, False] Translation: X:-7.23, Y:10.98, Z:5.58 [[ 0.20777852 0.67038767 0.71232609 -7.22992687] [-0.67432125 0.62569697 -0.39216598 10.98167871] [-0.70860351 -0.39885295 0.58206304 5.5840133 ] [ 0. 0. 0. 1. ]] SLAMing on 68.154839173 meters Centerline goodness : 0.733805 Centerline is valid? [False, False] Translation: X:-7.25, Y:11.12, Z:5.74 [[ 0.21068607 0.68002804 0.70226295 -7.25256015] [-0.67729578 0.61956344 -0.39675127 11.11523111] [-0.70489843 -0.39204976 0.59111351 5.73509221] [ 0. 0. 0. 1. ]] SLAMing on 68.184839173 meters Centerline goodness : 0.757311 Centerline is valid? [False, False] Translation: X:-7.28, Y:11.26, Z:5.89 [[ 0.21517837 0.68365457 0.69736267 -7.28076556] [-0.68101028 0.61685913 -0.39460082 11.25878806] [-0.69994518 -0.39000159 0.59831054 5.8939137 ] [ 0. 0. 0. 1. ]] SLAMing on 68.214839173 meters Centerline goodness : 0.749565 Centerline is valid? [False, False] Translation: X:-7.31, Y:11.39, Z:6.05 [[ 0.21872044 0.68908252 0.69088831 -7.31072193] [-0.68925208 0.61028667 -0.39048911 11.3941941 ] [-0.69071914 -0.39078825 0.60843373 6.04684117] [ 0. 0. 0. 1. ]] SLAMing on 68.244839173 meters Centerline goodness : 0.702222 Centerline is valid? [False, False] Translation: X:-7.34, Y:11.53, Z:6.20 [[ 0.22374653 0.69685368 0.68141943 -7.34290294] [-0.69418826 0.60469186 -0.390449 11.53159032] [-0.6841346 -0.38567176 0.61904535 6.19733019] [ 0. 0. 0. 1. ]] SLAMing on 68.274839173 meters Centerline goodness : 0.662000 Centerline is valid? [False, False] Translation: X:-7.38, Y:11.67, Z:6.35 [[ 0.22618324 0.70515943 0.67200544 -7.38426058] [-0.71042583 0.59141389 -0.38147707 11.67161265] [-0.66643551 -0.3911263 0.63473138 6.34974993] [ 0. 0. 0. 1. ]] SLAMing on 68.304839173 meters Centerline goodness : 0.677656 Centerline is valid? [False, False] Translation: X:-7.43, Y:11.84, Z:6.53 [[ 0.23284367 0.71046547 0.66409536 -7.43157139] [-0.72075419 0.58452036 -0.37262493 11.83852187] [-0.65291441 -0.39188615 0.64817283 6.53359934] [ 0. 0. 0. 1. ]] SLAMing on 68.334839173 meters Centerline goodness : 0.727119 Centerline is valid? [False, False] Translation: X:-7.49, Y:12.00, Z:6.71 [[ 0.23847422 0.72445689 0.64675518 -7.4852447 ] [-0.73976588 0.56697927 -0.36232713 11.99910609] [-0.62918716 -0.39204174 0.67113843 6.71421507] [ 0. 0. 0. 1. ]] SLAMing on 68.36483917300001 meters Centerline goodness : 0.697157 Centerline is valid? [False, False] Translation: X:-7.53, Y:12.16, Z:6.89 [[ 0.24427628 0.73055862 0.6376623 -7.53383672] [-0.74657569 0.56133407 -0.35711176 12.15776119] [-0.61883264 -0.38882924 0.6825379 6.89109895] [ 0. 0. 0. 1. ]] SLAMing on 68.39483917300001 meters Centerline goodness : 0.672228 Centerline is valid? [False, False] Translation: X:-7.60, Y:12.35, Z:7.11 [[ 0.24854582 0.73140349 0.63503851 -7.60271746] [-0.75353688 0.55794159 -0.34768283 12.35028349] [-0.60861083 -0.39210983 0.68981355 7.11005015] [ 0. 0. 0. 1. ]] SLAMing on 68.424839173 meters Centerline goodness : 0.701940 Centerline is valid? [False, False] Translation: X:-7.66, Y:12.53, Z:7.31 [[ 0.25696091 0.73021451 0.63305439 -7.65999859] [-0.75435091 0.56100903 -0.34091579 12.52802443] [-0.60409089 -0.38994313 0.69499537 7.30837558] [ 0. 0. 0. 1. ]] SLAMing on 68.454839173 meters Centerline goodness : 0.672252 Centerline is valid? [False, False] Translation: X:-7.73, Y:12.71, Z:7.52 [[ 0.2668809 0.72711404 0.63251858 -7.72848708] [-0.75043959 0.56858177 -0.33697951 12.70638972] [-0.60466107 -0.38473359 0.69739878 7.5205436 ] [ 0. 0. 0. 1. ]] SLAMing on 68.484839173 meters Centerline goodness : 0.649068 Centerline is valid? [False, False] Translation: X:-7.79, Y:12.86, Z:7.70 [[ 0.27446163 0.72533248 0.63131895 -7.78721317] [-0.74792865 0.57366392 -0.33393478 12.86396172] [-0.60437864 -0.38052925 0.69994568 7.69835613] [ 0. 0. 0. 1. ]] SLAMing on 68.514839173 meters Centerline goodness : 0.720105 Centerline is valid? [False, False] Translation: X:-7.87, Y:13.05, Z:7.91 [[ 0.2807434 0.71573093 0.63946257 -7.86728174] [-0.74091214 0.58513663 -0.32964273 13.04614976] [-0.61010847 -0.38124056 0.69456698 7.91141355] [ 0. 0. 0. 1. ]] SLAMing on 68.544839173 meters Centerline goodness : 0.638583 Centerline is valid? [False, False] Translation: X:-7.93, Y:13.22, Z:8.10 [[ 0.29011487 0.71963606 0.63083857 -7.93050815] [-0.74014282 0.58659354 -0.32878051 13.21668823] [-0.60664814 -0.37152652 0.70281298 8.09903622] [ 0. 0. 0. 1. ]] SLAMing on 68.574839173 meters Centerline goodness : 0.724125 Centerline is valid? [False, False] Translation: X:-8.00, Y:13.36, Z:8.27 [[ 0.29926142 0.72368011 0.62187596 -8.00028678] [-0.73720698 0.58913775 -0.33082107 13.36476888] [-0.60577923 -0.35944931 0.70980822 8.27444382] [ 0. 0. 0. 1. ]] SLAMing on 68.604839173 meters Centerline goodness : 0.669796 Centerline is valid? [False, False] Translation: X:-8.07, Y:13.52, Z:8.45 [[ 0.31050262 0.72125367 0.61917789 -8.07475544] [-0.73545667 0.59496061 -0.32423041 13.52286497] [-0.60223883 -0.35470412 0.71518765 8.45201845] [ 0. 0. 0. 1. ]] SLAMing on 68.634839173 meters Centerline goodness : 0.667181 Centerline is valid? [False, False] Translation: X:-8.15, Y:13.70, Z:8.63 [[ 0.31971073 0.7202005 0.61570796 -8.14907038] [-0.73655867 0.59767635 -0.31664541 13.69994787] [-0.59604227 -0.3522701 0.72155346 8.63327517] [ 0. 0. 0. 1. ]] SLAMing on 68.664839173 meters Centerline goodness : 0.681349 Centerline is valid? [False, False] Translation: X:-8.22, Y:13.85, Z:8.78 [[ 0.32274275 0.71667922 0.61822975 -8.2193233 ] [-0.73631136 0.60053313 -0.31177804 13.85187751] [-0.59471229 -0.35458548 0.72151676 8.77984385] [ 0. 0. 0. 1. ]] SLAMing on 68.694839173 meters Centerline goodness : 0.661987 Centerline is valid? [False, False] Translation: X:-8.30, Y:14.01, Z:8.94 [[ 0.3292911 0.71285766 0.6191941 -8.29910888] [-0.73880422 0.60287866 -0.30117377 14.01155355] [-0.58799294 -0.35828937 0.72518483 8.93901697] [ 0. 0. 0. 1. ]] SLAMing on 68.724839173 meters Centerline goodness : 0.633207 Centerline is valid? [False, False] Translation: X:-8.38, Y:14.17, Z:9.11 [[ 0.3338361 0.70852553 0.62172745 -8.38144309] [-0.73861696 0.6064097 -0.29446946 14.17372193] [-0.58566069 -0.36091391 0.72577042 9.10554576] [ 0. 0. 0. 1. ]] SLAMing on 68.75483917300001 meters Centerline goodness : 0.639437 Centerline is valid? [False, False] Translation: X:-8.48, Y:14.36, Z:9.30 [[ 0.33556371 0.72192009 0.60516806 -8.48069358] [-0.74086425 0.59902699 -0.30378746 14.3607914 ] [-0.58182227 -0.34640734 0.73585651 9.29693969] [ 0. 0. 0. 1. ]] SLAMing on 68.784839173 meters Centerline goodness : 0.650450 Centerline is valid? [False, False] Translation: X:-8.60, Y:14.60, Z:9.54 [[ 0.33606187 0.71895021 0.60841845 -8.60283587] [-0.74234847 0.59975833 -0.29867826 14.60365079] [-0.57963883 -0.35128413 0.73526749 9.54337454] [ 0. 0. 0. 1. ]] SLAMing on 68.814839173 meters Centerline goodness : 0.656521 Centerline is valid? [False, False] Translation: X:-8.71, Y:14.83, Z:9.77 [[ 0.33777288 0.71588734 0.61107676 -8.71114562] [-0.74332656 0.60115537 -0.29339025 14.82678133] [-0.57738644 -0.35513031 0.73519205 9.76636391] [ 0. 0. 0. 1. ]] SLAMing on 68.844839173 meters Centerline goodness : 0.662705 Centerline is valid? [False, False] Translation: X:-8.81, Y:15.01, Z:9.97 [[ 0.32835647 0.71940544 0.61207667 -8.81086592] [-0.74650696 0.59467462 -0.29847856 15.01283455] [-0.57871356 -0.35891213 0.73230643 9.9659059 ] [ 0. 0. 0. 1. ]] SLAMing on 68.874839173 meters Centerline goodness : 0.673482 Centerline is valid? [False, False] Translation: X:-8.92, Y:15.22, Z:10.18 [[ 0.32486568 0.72403879 0.60846538 -8.91743326] [-0.74771786 0.59057756 -0.30353936 15.22452863] [-0.57912027 -0.35635091 0.73323512 10.18370503] [ 0. 0. 0. 1. ]] SLAMing on 68.904839173 meters Centerline goodness : 0.699253 Centerline is valid? [False, False] Translation: X:-9.03, Y:15.43, Z:10.40 [[ 0.32056103 0.72275156 0.61226695 -9.02847833] [-0.74620773 0.59082636 -0.30675435 15.42599678] [-0.58345064 -0.35854484 0.72871871 10.39540312] [ 0. 0. 0. 1. ]] SLAMing on 68.934839173 meters Centerline goodness : 0.691340 Centerline is valid? [False, False] Translation: X:-9.14, Y:15.65, Z:10.61 [[ 0.3237819 0.71921567 0.61473092 -9.1433305 ] [-0.74600794 0.59368903 -0.30167116 15.6485984 ] [-0.58192563 -0.36091849 0.72876636 10.61252118] [ 0. 0. 0. 1. ]] SLAMing on 68.964839173 meters Centerline goodness : 0.695697 Centerline is valid? [False, False] Translation: X:-9.26, Y:15.86, Z:10.83 [[ 0.32900447 0.7133818 0.61874265 -9.25814668] [-0.74823862 0.59666052 -0.29006066 15.86483568] [-0.57610331 -0.36753589 0.7300838 10.82638133] [ 0. 0. 0. 1. ]] SLAMing on 68.994839173 meters Centerline goodness : 0.686235 Centerline is valid? [False, False] Translation: X:-9.37, Y:16.08, Z:11.04 [[ 0.32876423 0.71469347 0.61735511 -9.37148555] [-0.74701344 0.59674746 -0.29302457 16.08025494] [-0.57782783 -0.36483657 0.73007484 11.03708414] [ 0. 0. 0. 1. ]] SLAMing on 69.024839173 meters Centerline goodness : 0.713990 Centerline is valid? [False, False] Translation: X:-9.50, Y:16.31, Z:11.27 [[ 0.32869713 0.72072307 0.61034126 -9.50137795] [-0.74257794 0.59653467 -0.30450679 16.31381193] [-0.58355479 -0.35313545 0.73127229 11.27323119] [ 0. 0. 0. 1. ]] SLAMing on 69.054839173 meters Centerline goodness : 0.709843 Centerline is valid? [False, False] Translation: X:-9.61, Y:16.53, Z:11.48 [[ 0.33316131 0.72390266 0.60412622 -9.61216193] [-0.73935538 0.59819459 -0.309058 16.52574759] [-0.58511294 -0.3436978 0.73451662 11.47864787] [ 0. 0. 0. 1. ]] SLAMing on 69.084839173 meters Centerline goodness : 0.712866 Centerline is valid? [False, False] Translation: X:-9.73, Y:16.74, Z:11.69 [[ 0.34465157 0.72122326 0.60087628 -9.72729174] [-0.73269796 0.60682022 -0.30809563 16.74392445] [-0.58682961 -0.33407518 0.73758036 11.69299829] [ 0. 0. 0. 1. ]] SLAMing on 69.11483917300001 meters Centerline goodness : 0.704042 Centerline is valid? [False, False] Translation: X:-9.84, Y:16.93, Z:11.88 [[ 0.3473236 0.7099623 0.61263354 -9.8377872 ] [-0.72585221 0.61717056 -0.30370885 16.93435673] [-0.59372122 -0.33919616 0.72968561 11.88026309] [ 0. 0. 0. 1. ]] SLAMing on 69.14483917300001 meters Centerline goodness : 0.706461 Centerline is valid? [False, False] Translation: X:-9.97, Y:17.15, Z:12.09 [[ 0.3520196 0.7093282 0.61068462 -9.96865345] [-0.71285712 0.62598739 -0.31618748 17.1513702 ] [-0.60656157 -0.32402669 0.72600949 12.09444495] [ 0. 0. 0. 1. ]] SLAMing on 69.174839173 meters Centerline goodness : 0.701910 Centerline is valid? [False, False] Translation: X:-10.09, Y:17.37, Z:12.31 [[ 0.36374075 0.70168158 0.61264642 -10.09302574] [ -0.70313035 0.63821757 -0.31350604 17.37404201] [ -0.61098312 -0.31673537 0.72551936 12.31464326] [ 0. 0. 0. 1. ]] SLAMing on 69.204839173 meters Centerline goodness : 0.691640 Centerline is valid? [False, False] Translation: X:-10.22, Y:17.59, Z:12.54 [[ 0.37870986 0.67994975 0.62789105 -10.22120351] [ -0.69271632 0.65815595 -0.29491498 17.58722342] [ -0.6137776 -0.32326317 0.72026244 12.53682809] [ 0. 0. 0. 1. ]] SLAMing on 69.234839173 meters Centerline goodness : 0.699220 Centerline is valid? [False, False] Translation: X:-10.34, Y:17.79, Z:12.75 [[ 0.39434345 0.66367902 0.63562835 -10.33628851] [ -0.68475401 0.67350134 -0.27840239 17.78575562] [ -0.61286637 -0.3254629 0.72004771 12.745909 ] [ 0. 0. 0. 1. ]] SLAMing on 69.264839173 meters Centerline goodness : 0.709130 Centerline is valid? [False, False] Translation: X:-10.46, Y:17.99, Z:12.96 [[ 0.41314052 0.65156815 0.6362184 -10.45699266] [ -0.67141384 0.68992295 -0.27057307 17.9873038 ] [ -0.61523847 -0.31538114 0.722507 12.96180998] [ 0. 0. 0. 1. ]] SLAMing on 69.294839173 meters Centerline goodness : 0.725425 Centerline is valid? [False, False] Translation: X:-10.57, Y:18.18, Z:13.19 [[ 0.4417688 0.62572609 0.64288972 -10.57118991] [ -0.65642592 0.71391466 -0.24378447 18.18350098] [ -0.6115107 -0.3143131 0.72612804 13.18517353] [ 0. 0. 0. 1. ]] SLAMing on 69.324839173 meters Centerline goodness : 0.729927 Centerline is valid? [False, False] Translation: X:-10.67, Y:18.35, Z:13.37 [[ 0.47032806 0.60279564 0.64453776 -10.67148079] [ -0.64022955 0.73573621 -0.22090352 18.34510201] [ -0.60736945 -0.308755 0.73196496 13.37294726] [ 0. 0. 0. 1. ]] SLAMing on 69.354839173 meters Centerline goodness : 0.726282 Centerline is valid? [False, False] Translation: X:-10.77, Y:18.49, Z:13.54 [[ 0.49930209 0.58175039 0.6420778 -10.76898807] [ -0.62779286 0.75365039 -0.19464638 18.49364025] [ -0.59713779 -0.30590452 0.74151796 13.54174775] [ 0. 0. 0. 1. ]] SLAMing on 69.384839173 meters Centerline goodness : 0.709789 Centerline is valid? [False, False] Translation: X:-10.86, Y:18.62, Z:13.69 [[ 0.53556819 0.55775671 0.63409318 -10.85880123] [ -0.61697791 0.77112452 -0.15717901 18.62149349] [ -0.57663245 -0.30704141 0.75711333 13.69082626] [ 0. 0. 0. 1. ]] SLAMing on 69.414839173 meters Centerline goodness : 0.697264 Centerline is valid? [False, False] Translation: X:-10.94, Y:18.73, Z:13.81 [[ 0.55934083 0.53971455 0.62916297 -10.93902992] [ -0.60847137 0.78276644 -0.13053463 18.72948345] [ -0.5629391 -0.3098143 0.76623408 13.81167254] [ 0. 0. 0. 1. ]] SLAMing on 69.444839173 meters Centerline goodness : 0.685690 Centerline is valid? [False, False] Translation: X:-11.00, Y:18.81, Z:13.89 [[ 0.57500243 0.52489635 0.62757951 -11.00175656] [ -0.60321778 0.79019947 -0.10822712 18.81203975] [ -0.55272101 -0.31633626 0.77099342 13.8928345 ] [ 0. 0. 0. 1. ]] SLAMing on 69.474839173 meters Centerline goodness : 0.678677 Centerline is valid? [False, False] Translation: X:-11.07, Y:18.90, Z:13.98 [[ 0.5871037 0.51374939 0.62559636 -11.07380589] [ -0.59876398 0.79568135 -0.09150351 18.90026258] [ -0.54478523 -0.32086251 0.77476209 13.98440621] [ 0. 0. 0. 1. ]] SLAMing on 69.50483917300001 meters Centerline goodness : 0.672747 Centerline is valid? [False, False] Translation: X:-11.13, Y:18.97, Z:14.06 [[ 0.60119944 0.5126111 0.61301639 -11.13456761] [ -0.59550805 0.79893999 -0.08405387 18.9698345 ] [ -0.53285026 -0.31452306 0.78558631 14.06302123] [ 0. 0. 0. 1. ]] SLAMing on 69.534839173 meters Centerline goodness : 0.672747 Centerline is valid? [False, False] Translation: X:-11.20, Y:19.04, Z:14.15 [[ 0.61187372 0.50751583 0.60666155 -11.19833249] [ -0.59082549 0.80320809 -0.07603949 19.04344073] [ -0.52586671 -0.31190455 0.79131521 14.14520509] [ 0. 0. 0. 1. ]] SLAMing on 69.564839173 meters Centerline goodness : 0.674749 Centerline is valid? [False, False] Translation: X:-11.26, Y:19.11, Z:14.22 [[ 0.62514686 0.51309328 0.58815532 -11.25653723] [ -0.58563186 0.80650835 -0.08111479 19.10688276] [ -0.51597163 -0.29373384 0.80466994 14.22270196] [ 0. 0. 0. 1. ]] SLAMing on 69.594839173 meters Centerline goodness : 0.679418 Centerline is valid? [False, False] Translation: X:-11.31, Y:19.17, Z:14.29 [[ 0.63770983 0.51250003 0.57503904 -11.30519619] [ -0.58186819 0.80969142 -0.07634928 19.16689486] [ -0.50473318 -0.28590824 0.81455564 14.29095767] [ 0. 0. 0. 1. ]] SLAMing on 69.624839173 meters Centerline goodness : 0.673931 Centerline is valid? [False, False] Translation: X:-11.35, Y:19.22, Z:14.35 [[ 0.64651509 0.50805709 0.56911882 -11.35292986] [ -0.58013024 0.81186677 -0.0657362 19.22163972] [ -0.49544641 -0.28766359 0.8196234 14.35231639] [ 0. 0. 0. 1. ]] SLAMing on 69.654839173 meters Centerline goodness : 0.671672 Centerline is valid? [False, False] Translation: X:-11.40, Y:19.28, Z:14.41 [[ 0.65071982 0.50684201 0.56539799 -11.39612084] [ -0.58298169 0.81057579 -0.05567073 19.28095688] [ -0.48651419 -0.29339063 0.82293735 14.40900078] [ 0. 0. 0. 1. ]] SLAMing on 69.684839173 meters Centerline goodness : 0.669013 Centerline is valid? [False, False] Translation: X:-11.45, Y:19.33, Z:14.47 [[ 0.65686767 0.50551517 0.55944551 -11.44634012] [ -0.58322901 0.8108925 -0.04792991 19.33468176] [ -0.47787947 -0.29480124 0.82748018 14.46672551] [ 0. 0. 0. 1. ]] SLAMing on 69.714839173 meters Centerline goodness : 0.679479 Centerline is valid? [False, False] Translation: X:-11.50, Y:19.39, Z:14.53 [[ 0.66156323 0.50790741 0.55169209 -11.49902306] [ -0.58572436 0.80938097 -0.04277186 19.38596457] [ -0.46825322 -0.2948432 0.83295042 14.52616654] [ 0. 0. 0. 1. ]] SLAMing on 69.744839173 meters Centerline goodness : 0.678827 Centerline is valid? [False, False] Translation: X:-11.56, Y:19.44, Z:14.59 [[ 0.66817317 0.50930787 0.54235607 -11.55638558] [ -0.5847118 0.81022932 -0.04050372 19.43841614] [ -0.46006166 -0.2900585 0.83917182 14.58658322] [ 0. 0. 0. 1. ]] SLAMing on 69.774839173 meters Centerline goodness : 0.685254 Centerline is valid? [False, False] Translation: X:-11.61, Y:19.49, Z:14.65 [[ 0.67720073 0.50494728 0.53518914 -11.61057627] [ -0.57784434 0.815261 -0.03801874 19.48767999] [ -0.45551629 -0.2835097 0.84387627 14.64542713] [ 0. 0. 0. 1. ]] SLAMing on 69.804839173 meters Centerline goodness : 0.692810 Centerline is valid? [False, False] Translation: X:-11.67, Y:19.54, Z:14.71 [[ 0.68586763 0.50031015 0.52846509 -11.66921854] [ -0.57189985 0.81962998 -0.03372334 19.5413018 ] [ -0.45001796 -0.27909935 0.84828497 14.70783592] [ 0. 0. 0. 1. ]] SLAMing on 69.834839173 meters Centerline goodness : 0.696056 Centerline is valid? [False, False] Translation: X:-11.71, Y:19.58, Z:14.76 [[ 0.69410056 0.49451597 0.52314279 -11.71301445] [ -0.56548515 0.82425306 -0.02886925 19.58182866] [ -0.44547835 -0.27579131 0.85175595 14.75613005] [ 0. 0. 0. 1. ]] SLAMing on 69.86483917300001 meters Centerline goodness : 0.702642 Centerline is valid? [False, False] Translation: X:-11.76, Y:19.63, Z:14.81 [[ 0.70232106 0.49251398 0.51397968 -11.76053576] [ -0.56242226 0.82651663 -0.02348341 19.62665866] [ -0.43637866 -0.27258072 0.85748086 14.80804324] [ 0. 0. 0. 1. ]] SLAMing on 69.894839173 meters Centerline goodness : 0.714636 Centerline is valid? [False, False] Translation: X:-11.82, Y:19.67, Z:14.87 [[ 0.71159232 0.48484106 0.50849337 -11.81601276] [ -0.55330741 0.83274406 -0.01970371 19.6715393 ] [ -0.432998 -0.26733215 0.86084043 14.86618877] [ 0. 0. 0. 1. ]] SLAMing on 69.924839173 meters Centerline goodness : 0.746881 Centerline is valid? [False, False] Translation: X:-11.87, Y:19.72, Z:14.93 [[ 0.72440431 0.47765768 0.49707297 -11.8680358 ] [ -0.53931258 0.84179284 -0.02295126 19.71793409] [ -0.42939531 -0.25145172 0.86740516 14.92985624] [ 0. 0. 0. 1. ]] SLAMing on 69.954839173 meters Centerline goodness : 0.748681 Centerline is valid? [False, False] Translation: X:-11.91, Y:19.76, Z:14.98 [[ 7.39282676e-01 4.68203334e-01 4.83990458e-01 -1.19087312e+01] [-5.28647971e-01 8.48732968e-01 -1.35525790e-02 1.97602417e+01] [-4.17124020e-01 -2.45841387e-01 8.74968322e-01 1.49799959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters Centerline goodness : 0.749169 Centerline is valid? [False, False] Translation: X:-11.94, Y:19.80, Z:15.03 [[ 7.58105126e-01 4.52228689e-01 4.69857246e-01 -1.19430703e+01] [-5.12989743e-01 8.58393407e-01 1.51115766e-03 1.98006074e+01] [-4.02638973e-01 -2.42177564e-01 8.82741120e-01 1.50292912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.014839173 meters Centerline goodness : 0.753112 Centerline is valid? [False, False] Translation: X:-11.98, Y:19.84, Z:15.07 [[ 7.71690653e-01 4.43324326e-01 4.56023111e-01 -1.19765620e+01] [-5.02628709e-01 8.64442366e-01 1.01870873e-02 1.98351330e+01] [-3.89689514e-01 -2.37071588e-01 8.89909628e-01 1.50701322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters Centerline goodness : 0.746132 Centerline is valid? [False, False] Translation: X:-12.01, Y:19.87, Z:15.11 [[ 7.85048045e-01 4.34114485e-01 4.41864437e-01 -1.20088612e+01] [-4.92205553e-01 8.70260771e-01 1.94905955e-02 1.98670440e+01] [-3.76076136e-01 -2.32789184e-01 8.96870077e-01 1.51083919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.074839173 meters Centerline goodness : 0.757914 Centerline is valid? [False, False] Translation: X:-12.04, Y:19.90, Z:15.14 [[ 0.80107839 0.42012881 0.4263393 -12.03804589] [ -0.47565181 0.87920886 0.02733366 19.89715894] [ -0.36335763 -0.22468546 0.90415025 15.14418431] [ 0. 0. 0. 1. ]] SLAMing on 70.104839173 meters Centerline goodness : 0.771476 Centerline is valid? [False, False] Translation: X:-12.07, Y:19.93, Z:15.19 [[ 0.8163395 0.40685214 0.40995262 -12.07052134] [ -0.45579577 0.88974404 0.02461217 19.93032841] [ -0.35473938 -0.20694656 0.91177469 15.18687074] [ 0. 0. 0. 1. ]] SLAMing on 70.134839173 meters Centerline goodness : 0.797297 Centerline is valid? [False, False] Translation: X:-12.10, Y:19.96, Z:15.22 [[ 0.8290973 0.3990068 0.39165193 -12.09567763] [ -0.443845 0.89569457 0.02707115 19.96014058] [ -0.33999894 -0.19627737 0.91971513 15.2237892 ] [ 0. 0. 0. 1. ]] SLAMing on 70.164839173 meters Centerline goodness : 0.797137 Centerline is valid? [False, False] Translation: X:-12.11, Y:19.98, Z:15.25 [[ 0.83860688 0.39423651 0.3759203 -12.11260055] [ -0.43618408 0.89936184 0.02986192 19.98377164] [ -0.32631571 -0.18901286 0.92617071 15.2502094 ] [ 0. 0. 0. 1. ]] SLAMing on 70.194839173 meters Centerline goodness : 0.792994 Centerline is valid? [False, False] Translation: X:-12.13, Y:20.01, Z:15.27 [[ 0.8513585 0.38829179 0.35272963 -12.12814039] [ -0.42656 0.90379563 0.03464143 20.00877273] [ -0.30534451 -0.17995263 0.93508384 15.27371228] [ 0. 0. 0. 1. ]] SLAMing on 70.224839173 meters Centerline goodness : 0.787826 Centerline is valid? [False, False] Translation: X:-12.15, Y:20.03, Z:15.30 [[ 0.86483353 0.37761189 0.33086587 -12.15239555] [ -0.41379103 0.90931773 0.04379771 20.03380099] [ -0.28432366 -0.17478706 0.94266088 15.29965343] [ 0. 0. 0. 1. ]] SLAMing on 70.25483917300001 meters Centerline goodness : 0.783570 Centerline is valid? [False, False] Translation: X:-12.17, Y:20.05, Z:15.32 [[ 0.87704375 0.36651943 0.31057651 -12.16824854] [ -0.40062393 0.91477846 0.05177671 20.05441809] [ -0.26513153 -0.16983482 0.94913719 15.31635394] [ 0. 0. 0. 1. ]] SLAMing on 70.284839173 meters Centerline goodness : 0.776960 Centerline is valid? [False, False] Translation: X:-12.19, Y:20.08, Z:15.34 [[ 0.88645632 0.35883389 0.29228999 -12.18669716] [ -0.39108321 0.91849605 0.05847163 20.07683296] [ -0.2474856 -0.16614226 0.95454053 15.33573995] [ 0. 0. 0. 1. ]] SLAMing on 70.314839173 meters Centerline goodness : 0.768008 Centerline is valid? [False, False] Translation: X:-12.20, Y:20.10, Z:15.36 [[ 0.89613876 0.35116703 0.2713246 -12.20136606] [ -0.37994813 0.92304445 0.06023588 20.09750306] [ -0.22929181 -0.15706898 0.96060117 15.35742049] [ 0. 0. 0. 1. ]] SLAMing on 70.344839173 meters Centerline goodness : 0.779658 Centerline is valid? [False, False] Translation: X:-12.21, Y:20.11, Z:15.38 [[ 0.90202071 0.350068 0.25260844 -12.2106815 ] [ -0.37385765 0.92604665 0.05165322 20.11025805] [ -0.21584506 -0.14103188 0.96618886 15.37788587] [ 0. 0. 0. 1. ]] SLAMing on 70.374839173 meters Centerline goodness : 0.780243 Centerline is valid? [False, False] Translation: X:-12.22, Y:20.13, Z:15.39 [[ 0.90697703 0.3479676 0.23729984 -12.22235648] [ -0.3697129 0.92764425 0.05280644 20.12749256] [ -0.2017549 -0.13562704 0.97000014 15.39287374] [ 0. 0. 0. 1. ]] SLAMing on 70.404839173 meters Centerline goodness : 0.785276 Centerline is valid? [False, False] Translation: X:-12.22, Y:20.15, Z:15.40 [[ 0.90519688 0.35695293 0.23065823 -12.22419866] [ -0.37920234 0.92342393 0.05910867 20.14674176] [ -0.19189632 -0.14097112 0.97123784 15.39965636] [ 0. 0. 0. 1. ]] SLAMing on 70.434839173 meters Centerline goodness : 0.780402 Centerline is valid? [False, False] Translation: X:-12.23, Y:20.16, Z:15.41 [[ 0.90681135 0.36030913 0.2187933 -12.23380237] [ -0.38172707 0.92208296 0.06361955 20.1620224 ] [ -0.17882287 -0.14121026 0.97369505 15.41110587] [ 0. 0. 0. 1. ]] SLAMing on 70.464839173 meters Centerline goodness : 0.774374 Centerline is valid? [False, False] Translation: X:-12.24, Y:20.17, Z:15.42 [[ 0.90710519 0.36526839 0.20913913 -12.239746 ] [ -0.38514382 0.9207457 0.06238266 20.17385574] [ -0.16977754 -0.13713627 0.97589407 15.41864479] [ 0. 0. 0. 1. ]] SLAMing on 70.494839173 meters Centerline goodness : 0.783650 Centerline is valid? [False, False] Translation: X:-12.24, Y:20.19, Z:15.43 [[ 0.9007522 0.38638434 0.19837492 -12.24497076] [ -0.40299449 0.91383937 0.04993044 20.18686747] [ -0.16199047 -0.12491895 0.97885359 15.42640533] [ 0. 0. 0. 1. ]] SLAMing on 70.524839173 meters Centerline goodness : 0.798272 Centerline is valid? [False, False] Translation: X:-12.26, Y:20.20, Z:15.44 [[ 0.89440507 0.40247811 0.19506653 -12.25899801] [ -0.41733419 0.90785625 0.04036338 20.20219348] [ -0.160847 -0.11750914 0.9799591 15.43784101] [ 0. 0. 0. 1. ]] SLAMing on 70.554839173 meters Centerline goodness : 0.814593 Centerline is valid? [False, False] Translation: X:-12.27, Y:20.22, Z:15.45 [[ 0.8934502 0.40497159 0.1942801 -12.27405935] [ -0.4199095 0.90662921 0.04122475 20.21558703] [ -0.15944517 -0.11841232 0.98007947 15.4472321 ] [ 0. 0. 0. 1. ]] SLAMing on 70.584839173 meters Centerline goodness : 0.829147 Centerline is valid? [False, False] Translation: X:-12.29, Y:20.23, Z:15.46 [[ 0.89042048 0.41014663 0.19730971 -12.29009978] [ -0.42625173 0.90345537 0.04558364 20.23134103] [ -0.15956454 -0.12469221 0.97928086 15.45646914] [ 0. 0. 0. 1. ]] SLAMing on 70.61483917300001 meters Centerline goodness : 0.828715 Centerline is valid? [False, False] Translation: X:-12.31, Y:20.24, Z:15.46 [[ 0.88987202 0.41320548 0.19336239 -12.31280947] [ -0.42794028 0.9029251 0.03991723 20.24433327] [ -0.15809774 -0.11826878 0.98031505 15.46364951] [ 0. 0. 0. 1. ]] SLAMing on 70.644839173 meters Centerline goodness : 0.833032 Centerline is valid? [False, False] Translation: X:-12.33, Y:20.25, Z:15.47 [[ 0.88900401 0.41839903 0.18604873 -12.33019788] [ -0.42991517 0.90253407 0.02460072 20.24995116] [ -0.1576224 -0.10185531 0.9822325 15.47109594] [ 0. 0. 0. 1. ]] SLAMing on 70.674839173 meters Centerline goodness : 0.838318 Centerline is valid? [False, False] Translation: X:-12.35, Y:20.26, Z:15.48 [[ 8.89550758e-01 4.19374600e-01 1.81175035e-01 -1.23539245e+01] [-4.29052596e-01 9.03136543e-01 1.60702915e-02 2.02611603e+01] [-1.56886323e-01 -9.20289593e-02 9.83319558e-01 1.54788515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.704839173 meters Centerline goodness : 0.840916 Centerline is valid? [False, False] Translation: X:-12.38, Y:20.26, Z:15.49 [[ 8.90504059e-01 4.21109819e-01 1.72247034e-01 -1.23751382e+01] [-4.28973506e-01 9.03267637e-01 9.45024746e-03 2.02648096e+01] [-1.51605579e-01 -8.23048977e-02 9.85008453e-01 1.54867482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.734839173 meters Centerline goodness : 0.835587 Centerline is valid? [False, False] Translation: X:-12.39, Y:20.27, Z:15.49 [[ 0.89185939 0.42064984 0.16625444 -12.3947816 ] [ -0.42967313 0.90274337 0.02086661 20.27448686] [ -0.14130756 -0.09004515 0.98586208 15.4920558 ] [ 0. 0. 0. 1. ]] SLAMing on 70.764839173 meters Centerline goodness : 0.836767 Centerline is valid? [False, False] Translation: X:-12.42, Y:20.29, Z:15.50 [[ 0.89360614 0.4168441 0.1664604 -12.41796594] [ -0.42712141 0.90369995 0.02989488 20.28920044] [ -0.13796875 -0.09781305 0.98559486 15.49928737] [ 0. 0. 0. 1. ]] SLAMing on 70.794839173 meters Centerline goodness : 0.843264 Centerline is valid? [False, False] Translation: X:-12.43, Y:20.30, Z:15.51 [[ 0.89336571 0.4168232 0.16779788 -12.43494913] [ -0.4270091 0.90380437 0.02829986 20.30301432] [ -0.13986042 -0.09693335 0.98541514 15.50670494] [ 0. 0. 0. 1. ]] SLAMing on 70.824839173 meters Centerline goodness : 0.843660 Centerline is valid? [False, False] Translation: X:-12.45, Y:20.31, Z:15.51 [[ 8.92755215e-01 4.21550521e-01 1.59007182e-01 -1.24500406e+01] [-4.29005794e-01 9.03190221e-01 1.41933973e-02 2.03108714e+01] [-1.37630498e-01 -8.08862320e-02 9.87175396e-01 1.55134595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.854839173 meters Centerline goodness : 0.846045 Centerline is valid? [False, False] Translation: X:-12.47, Y:20.32, Z:15.52 [[ 8.91754985e-01 4.27907808e-01 1.47200393e-01 -1.24745157e+01] [-4.31592063e-01 9.02037129e-01 -7.57033964e-03 2.03177347e+01] [-1.36019627e-01 -5.67796329e-02 9.89077719e-01 1.55172266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.884839173 meters Centerline goodness : 0.843020 Centerline is valid? [False, False] Translation: X:-12.49, Y:20.32, Z:15.52 [[ 8.93969128e-01 4.25826699e-01 1.39609533e-01 -1.24851907e+01] [-4.29152544e-01 9.03205849e-01 -6.87660712e-03 2.03226467e+01] [-1.29024389e-01 -5.37663115e-02 9.90182756e-01 1.55204386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.914839173 meters Centerline goodness : 0.823309 Centerline is valid? [False, False] Translation: X:-12.50, Y:20.33, Z:15.52 [[ 8.99266252e-01 4.18748426e-01 1.26372324e-01 -1.24982638e+01] [-4.22257675e-01 9.06475196e-01 1.08421831e-03 2.03321051e+01] [-1.14099362e-01 -5.43366846e-02 9.91982288e-01 1.55230563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.944839173 meters Centerline goodness : 0.813434 Centerline is valid? [False, False] Translation: X:-12.51, Y:20.34, Z:15.53 [[ 9.03813560e-01 4.11159943e-01 1.18610920e-01 -1.25136903e+01] [-4.15222958e-01 9.09656691e-01 1.07051421e-02 2.03413895e+01] [-1.03493691e-01 -5.89254295e-02 9.92883100e-01 1.55267246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.974839173 meters Centerline goodness : 0.801399 Centerline is valid? [False, False] Translation: X:-12.53, Y:20.35, Z:15.53 [[ 9.08927230e-01 4.04403453e-01 1.01533921e-01 -1.25279784e+01] [-4.07680146e-01 9.13032515e-01 1.29817148e-02 2.03478261e+01] [-8.74539207e-02 -5.31927977e-02 9.94747374e-01 1.55308189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00483917300001 meters Centerline goodness : 0.792278 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.35, Z:15.54 [[ 9.11493394e-01 4.01259336e-01 9.03921336e-02 -1.25359776e+01] [-4.03663055e-01 9.14860539e-01 9.29146978e-03 2.03531581e+01] [-7.89679071e-02 -4.49570781e-02 9.95862908e-01 1.55353646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.034839173 meters Centerline goodness : 0.790339 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.36, Z:15.54 [[ 9.13166784e-01 3.99937231e-01 7.85915779e-02 -1.25430623e+01] [-4.01626429e-01 9.15781782e-01 6.31981683e-03 2.03564387e+01] [-6.94452052e-02 -3.73355016e-02 9.96886866e-01 1.55401835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters Centerline goodness : 0.801198 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.36, Z:15.55 [[ 9.14432385e-01 3.99011950e-01 6.78445112e-02 -1.25494105e+01] [-4.00227615e-01 9.16403226e-01 4.79411763e-03 2.03637002e+01] [-6.02600187e-02 -3.15371433e-02 9.97684388e-01 1.55455690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.094839173 meters Centerline goodness : 0.790269 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.37, Z:15.55 [[ 9.13316870e-01 4.02875243e-01 5.95301021e-02 -1.25533269e+01] [-4.04112233e-01 9.14655641e-01 9.91777914e-03 2.03697874e+01] [-5.04539160e-02 -3.31149175e-02 9.98177241e-01 1.55470775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.124839173 meters Centerline goodness : 0.787642 Centerline is valid? [False, False] Translation: X:-12.56, Y:20.38, Z:15.55 [[ 9.13248705e-01 4.04105795e-01 5.17233959e-02 -1.25607416e+01] [-4.05174361e-01 9.14164398e-01 1.17128732e-02 2.03770731e+01] [-4.25504471e-02 -3.16537601e-02 9.98592759e-01 1.55498971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.154839173 meters Centerline goodness : 0.784660 Centerline is valid? [False, False] Translation: X:-12.57, Y:20.38, Z:15.55 [[ 9.12223269e-01 4.07334344e-01 4.39026184e-02 -1.25694002e+01] [-4.08242780e-01 9.12768874e-01 1.38135917e-02 2.03828493e+01] [-3.44461933e-02 -3.05240067e-02 9.98940311e-01 1.55538521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.184839173 meters Centerline goodness : 0.776422 Centerline is valid? [False, False] Translation: X:-12.58, Y:20.39, Z:15.56 [[ 9.12815983e-01 4.06947031e-01 3.40748496e-02 -1.25754561e+01] [-4.07597764e-01 9.13042888e-01 1.47223608e-02 2.03888596e+01] [-2.51205780e-02 -2.73276388e-02 9.99310841e-01 1.55565018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.214839173 meters Centerline goodness : 0.781120 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.39, Z:15.56 [[ 9.12860446e-01 4.07363991e-01 2.72100070e-02 -1.25859913e+01] [-4.07875942e-01 9.12881742e-01 1.68564687e-02 2.03945754e+01] [-1.79728003e-02 -2.64859108e-02 9.99487606e-01 1.55597011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.244839173 meters Centerline goodness : 0.780944 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.39, Z:15.56 [[ 9.12745680e-01 4.07614595e-01 2.73068671e-02 -1.25876447e+01] [-4.08137798e-01 9.12755653e-01 1.73394535e-02 2.03929836e+01] [-1.78566830e-02 -2.69714759e-02 9.99476702e-01 1.55614481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.274839173 meters Centerline goodness : 0.797474 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.40, Z:15.57 [[ 9.13632529e-01 4.05522231e-01 2.87632191e-02 -1.26078088e+01] [-4.06049586e-01 9.13719064e-01 1.55308323e-02 2.03970516e+01] [-1.99834039e-02 -2.58687668e-02 9.99465592e-01 1.55685029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.304839173 meters Centerline goodness : 0.800727 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.40, Z:15.57 [[ 9.15201506e-01 4.02195168e-01 2.54017583e-02 -1.26230274e+01] [-4.02608052e-01 9.15268122e-01 1.38210645e-02 2.04044603e+01] [-1.76906543e-02 -2.28760114e-02 9.99581777e-01 1.55731905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.334839173 meters Centerline goodness : 0.788990 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.41, Z:15.58 [[ 9.16664066e-01 3.99214177e-01 1.88422763e-02 -1.26314211e+01] [-3.99556595e-01 9.16476142e-01 2.06399632e-02 2.04052249e+01] [-9.02873071e-03 -2.64484684e-02 9.99609404e-01 1.55791842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36483917300001 meters Centerline goodness : 0.786275 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.41, Z:15.58 [[ 9.19143632e-01 3.93864739e-01 6.74908266e-03 -1.26525852e+01] [-3.93910975e-01 9.18850294e-01 2.34153891e-02 2.04092620e+01] [ 3.02109954e-03 -2.41806435e-02 9.99703041e-01 1.55817737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.394839173 meters Centerline goodness : 0.782177 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.41, Z:15.58 [[ 9.20829248e-01 3.89939583e-01 -4.54065873e-03 -1.26584889e+01] [-3.89762840e-01 9.20662907e-01 2.15578343e-02 2.04129741e+01] [ 1.25866690e-02 -1.80813043e-02 9.99757292e-01 1.55820390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.424839173 meters Centerline goodness : 0.782177 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.41, Z:15.58 [[ 9.20829248e-01 3.89939583e-01 -4.54065873e-03 -1.26584889e+01] [-3.89762840e-01 9.20662907e-01 2.15578343e-02 2.04129741e+01] [ 1.25866690e-02 -1.80813043e-02 9.99757292e-01 1.55820390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.454839173 meters Centerline goodness : 0.770068 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.42, Z:15.58 [[ 9.22438193e-01 3.85762343e-01 -1.71812168e-02 -1.26597529e+01] [-3.85409938e-01 9.22514657e-01 2.06370097e-02 2.04162412e+01] [ 2.38109056e-02 -1.24145543e-02 9.99639395e-01 1.55805906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.484839173 meters Centerline goodness : 0.743007 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.42, Z:15.58 [[ 9.23661421e-01 3.81114448e-01 -4.00169563e-02 -1.26599332e+01] [-3.80239543e-01 9.24467888e-01 2.78749843e-02 2.04194783e+01] [ 4.76179504e-02 -1.05310185e-02 9.98810106e-01 1.55771828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.514839173 meters Centerline goodness : 0.731270 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.43, Z:15.58 [[ 9.25570904e-01 3.74681893e-01 -5.41477736e-02 -1.26710466e+01] [-3.73202949e-01 9.27065574e-01 3.56227571e-02 2.04257986e+01] [ 6.35457388e-02 -1.27632787e-02 9.97897308e-01 1.55784651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.544839173 meters Centerline goodness : 0.714403 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.43, Z:15.58 [[ 9.27827976e-01 3.65558820e-01 -7.41754463e-02 -1.26789361e+01] [-3.63393652e-01 9.30718536e-01 4.13286830e-02 2.04270609e+01] [ 8.41445274e-02 -1.13910220e-02 9.96388450e-01 1.55795983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.574839173 meters Centerline goodness : 0.709030 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.43, Z:15.58 [[ 9.31620607e-01 3.54784985e-01 -7.88077400e-02 -1.26882515e+01] [-3.52371634e-01 9.34865450e-01 4.31372483e-02 2.04288329e+01] [ 8.89790813e-02 -1.24179373e-02 9.95956082e-01 1.55810570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.604839173 meters Centerline goodness : 0.724313 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.43, Z:15.58 [[ 9.33309325e-01 3.50370941e-01 -7.85742137e-02 -1.26921647e+01] [-3.48282726e-01 9.36564539e-01 3.93193044e-02 2.04324806e+01] [ 8.73661639e-02 -9.33103220e-03 9.96132564e-01 1.55831454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.634839173 meters Centerline goodness : 0.718591 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.44, Z:15.59 [[ 9.34953790e-01 3.45841199e-01 -7.90902997e-02 -1.26967839e+01] [-3.44145096e-01 9.38279077e-01 3.45908331e-02 2.04363386e+01] [ 8.61717086e-02 -5.12229173e-03 9.96267132e-01 1.55878296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.664839173 meters Centerline goodness : 0.740293 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.44, Z:15.60 [[ 9.38117963e-01 3.36624083e-01 -8.13567040e-02 -1.27045733e+01] [-3.36218004e-01 9.41591412e-01 1.90543134e-02 2.04417943e+01] [ 8.30189145e-02 9.47839492e-03 9.96502895e-01 1.55997121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.694839173 meters Centerline goodness : 0.742613 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.44, Z:15.60 [[ 9.38949182e-01 3.34016954e-01 -8.25051953e-02 -1.27084214e+01] [-3.33872858e-01 9.42483211e-01 1.59471712e-02 2.04402047e+01] [ 8.30863870e-02 1.25726620e-02 9.96463035e-01 1.56042501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.724839173 meters Centerline goodness : 0.736373 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.44, Z:15.61 [[ 9.40766606e-01 3.25469675e-01 -9.50141210e-02 -1.27117286e+01] [-3.25579945e-01 9.45399044e-01 1.47765378e-02 2.04406609e+01] [ 9.46355742e-02 1.70334190e-02 9.95366250e-01 1.56086063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75483917300001 meters Centerline goodness : 0.729432 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.44, Z:15.61 [[ 9.42198791e-01 3.17713344e-01 -1.06393937e-01 -1.27132838e+01] [-3.17723977e-01 9.48025322e-01 1.73050052e-02 2.04413529e+01] [ 1.06362177e-01 1.74991499e-02 9.94173459e-01 1.56085895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters Centerline goodness : 0.732016 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.44, Z:15.61 [[ 9.43982176e-01 3.12978409e-01 -1.04604817e-01 -1.27190328e+01] [-3.12808744e-01 9.49636921e-01 1.84501414e-02 2.04425202e+01] [ 1.05111092e-01 1.53046967e-02 9.94342710e-01 1.56077492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.814839173 meters Centerline goodness : 0.731552 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.45, Z:15.61 [[ 9.49489044e-01 2.97025871e-01 -1.01223448e-01 -1.27311803e+01] [-2.97632725e-01 9.54634121e-01 9.40513491e-03 2.04476019e+01] [ 9.94249254e-02 2.11973380e-02 9.94819258e-01 1.56082649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters Centerline goodness : 0.744545 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.45, Z:15.61 [[ 9.52555424e-01 2.86871640e-01 -1.01699691e-01 -1.27367628e+01] [-2.88276072e-01 9.57546892e-01 9.25387789e-04 2.04517724e+01] [ 9.76476903e-02 2.84361042e-02 9.94814715e-01 1.56108651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.874839173 meters Centerline goodness : 0.753784 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.46, Z:15.61 [[ 9.55190311e-01 2.77539146e-01 -1.02876098e-01 -1.27411071e+01] [-2.79788148e-01 9.60029871e-01 -7.82551195e-03 2.04552571e+01] [ 9.65922415e-02 3.62583662e-02 9.94663395e-01 1.56140450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.904839173 meters Centerline goodness : 0.747630 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.46, Z:15.62 [[ 0.95891495 0.263517 -0.1050757 -12.7455951 ] [ -0.26711958 0.96342186 -0.02157411 20.46053614] [ 0.09554708 0.04875551 0.99423018 15.61788596] [ 0. 0. 0. 1. ]] SLAMing on 71.934839173 meters Centerline goodness : 0.761960 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.46, Z:15.62 [[ 0.96030769 0.25819203 -0.10557467 -12.74630402] [ -0.26224642 0.96464314 -0.02627605 20.46325372] [ 0.09505762 0.05291967 0.99406416 15.61769384] [ 0. 0. 0. 1. ]] SLAMing on 71.964839173 meters Centerline goodness : 0.766291 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.47, Z:15.61 [[ 0.96145493 0.25503005 -0.10278175 -12.74680212] [ -0.25887424 0.96556761 -0.02575513 20.47036949] [ 0.0926744 0.05136994 0.99437045 15.61268958] [ 0. 0. 0. 1. ]] SLAMing on 71.994839173 meters Centerline goodness : 0.743427 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.48, Z:15.61 [[ 0.96086492 0.25222608 -0.11454522 -12.74312949] [ -0.25657135 0.96621013 -0.02468037 20.48366363] [ 0.10444972 0.05310353 0.99311141 15.61215231] [ 0. 0. 0. 1. ]] SLAMing on 72.024839173 meters Centerline goodness : 0.754440 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.49, Z:15.62 [[ 0.95965101 0.25036978 -0.12800354 -12.74135382] [ -0.2555795 0.96644454 -0.02576972 20.49365165] [ 0.11725636 0.05744502 0.99143886 15.61642595] [ 0. 0. 0. 1. ]] SLAMing on 72.054839173 meters Centerline goodness : 0.739013 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.50, Z:15.62 [[ 0.9582418 0.25488068 -0.12964754 -12.73678376] [ -0.26025712 0.96518695 -0.02608414 20.50004225] [ 0.11848577 0.05873661 0.991217 15.6193303 ] [ 0. 0. 0. 1. ]] SLAMing on 72.084839173 meters Centerline goodness : 0.759914 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.50, Z:15.62 [[ 0.95825378 0.254095 -0.13109322 -12.73735494] [ -0.25995522 0.96517219 -0.02942674 20.50350582] [ 0.11905035 0.06227665 0.99093321 15.62382036] [ 0. 0. 0. 1. ]] SLAMing on 72.11483917300001 meters Centerline goodness : 0.768466 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.51, Z:15.63 [[ 0.95849658 0.25285874 -0.13170709 -12.74017377] [ -0.25938371 0.96515037 -0.03471107 20.5149345 ] [ 0.11834014 0.06743311 0.99068077 15.63155578] [ 0. 0. 0. 1. ]] SLAMing on 72.144839173 meters Centerline goodness : 0.774915 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.53, Z:15.64 [[ 0.95800841 0.25516597 -0.13080604 -12.74168589] [ -0.26175683 0.96447498 -0.03565621 20.52639084] [ 0.1170609 0.06839833 0.99076658 15.63644832] [ 0. 0. 0. 1. ]] SLAMing on 72.174839173 meters Centerline goodness : 0.777105 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.53, Z:15.64 [[ 0.95775308 0.25541828 -0.13217615 -12.74109615] [ -0.2624342 0.96418521 -0.03840807 20.53133514] [ 0.11763216 0.07147299 0.99048185 15.64063953] [ 0. 0. 0. 1. ]] SLAMing on 72.204839173 meters Centerline goodness : 0.785239 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.53, Z:15.65 [[ 0.95734401 0.25606516 -0.13387708 -12.74136845] [ -0.26350853 0.9637897 -0.04089835 20.53403367] [ 0.11855671 0.07443154 0.99015365 15.64591434] [ 0. 0. 0. 1. ]] SLAMing on 72.234839173 meters Centerline goodness : 0.804253 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.54, Z:15.66 [[ 0.9573565 0.25448654 -0.13676673 -12.74459228] [ -0.26331109 0.96338554 -0.05055271 20.54033257] [ 0.1188941 0.08440916 0.98931253 15.65848723] [ 0. 0. 0. 1. ]] SLAMing on 72.264839173 meters Centerline goodness : 0.805199 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.54, Z:15.66 [[ 0.95727676 0.25456791 -0.1371728 -12.74632848] [ -0.26358877 0.96323854 -0.05188916 20.54272011] [ 0.11892082 0.0858295 0.98918711 15.66206964] [ 0. 0. 0. 1. ]] SLAMing on 72.294839173 meters Centerline goodness : 0.816427 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.55, Z:15.67 [[ 0.9569081 0.25626393 -0.13658578 -12.7469334 ] [ -0.26523794 0.96278847 -0.05183827 20.55123295] [ 0.11821894 0.08583219 0.989271 15.66554728] [ 0. 0. 0. 1. ]] SLAMing on 72.324839173 meters Centerline goodness : 0.821509 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.56, Z:15.67 [[ 0.95707617 0.25589804 -0.13609338 -12.75013911] [ -0.2649547 0.96280797 -0.0529134 20.55505806] [ 0.11749135 0.08670073 0.98928194 15.66899566] [ 0. 0. 0. 1. ]] SLAMing on 72.354839173 meters Centerline goodness : 0.832416 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.56, Z:15.68 [[ 0.95741717 0.25371052 -0.13778 -12.75343377] [ -0.26350039 0.96292042 -0.05789486 20.55948002] [ 0.11798264 0.09173461 0.98876937 15.67650546] [ 0. 0. 0. 1. ]] SLAMing on 72.384839173 meters Centerline goodness : 0.832365 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.56, Z:15.68 [[ 0.95701005 0.25454166 -0.13906947 -12.75206489] [ -0.26460036 0.96254636 -0.05908598 20.56151131] [ 0.11882096 0.09334371 0.98851835 15.67894863] [ 0. 0. 0. 1. ]] SLAMing on 72.414839173 meters Centerline goodness : 0.837455 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.68 [[ 0.95557566 0.25908197 -0.14054068 -12.74869428] [ -0.26927324 0.96126703 -0.0588015 20.56769364] [ 0.11986272 0.09403313 0.98832722 15.68278172] [ 0. 0. 0. 1. ]] SLAMing on 72.444839173 meters Centerline goodness : 0.852999 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.68 [[ 0.95473772 0.26241422 -0.14005235 -12.74834694] [ -0.27227892 0.96056856 -0.0563226 20.56993847] [ 0.11975003 0.09190662 0.9885409 15.6840117 ] [ 0. 0. 0. 1. ]] SLAMing on 72.474839173 meters Centerline goodness : 0.842993 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.58, Z:15.69 [[ 0.95466362 0.26245925 -0.14047248 -12.74961072] [ -0.2725817 0.96037554 -0.05812089 20.57553856] [ 0.11965197 0.09377613 0.98837718 15.68811222] [ 0. 0. 0. 1. ]] SLAMing on 72.50483917300001 meters Centerline goodness : 0.856173 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.58, Z:15.69 [[ 0.95467301 0.26229914 -0.14070754 -12.75009992] [ -0.27245418 0.96040618 -0.0582125 20.57537746] [ 0.1198673 0.09391026 0.98833835 15.68915244] [ 0. 0. 0. 1. ]] SLAMing on 72.534839173 meters Centerline goodness : 0.842155 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.69 [[ 0.95458027 0.26252247 -0.14092002 -12.75076681] [ -0.27263015 0.9603905 -0.05764457 20.5727176 ] [ 0.12020525 0.09344542 0.98834136 15.68963311] [ 0. 0. 0. 1. ]] SLAMing on 72.564839173 meters Centerline goodness : 0.842610 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.69 [[ 0.95447418 0.26294934 -0.14084277 -12.75111516] [ -0.272917 0.96037511 -0.05653274 20.57008727] [ 0.12039665 0.09239742 0.98841659 15.68923822] [ 0. 0. 0. 1. ]] SLAMing on 72.594839173 meters Centerline goodness : 0.850435 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.69 [[ 0.95417682 0.26381551 -0.14123731 -12.74909512] [ -0.27369223 0.96021812 -0.05544112 20.56812941] [ 0.1209924 0.09155619 0.98842213 15.68773351] [ 0. 0. 0. 1. ]] SLAMing on 72.624839173 meters Centerline goodness : 0.843927 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.69 [[ 0.95316504 0.26787373 -0.14042815 -12.74782822] [ -0.27723063 0.95941771 -0.05158335 20.56843385] [ 0.12091143 0.08809843 0.98874622 15.68695666] [ 0. 0. 0. 1. ]] SLAMing on 72.654839173 meters Centerline goodness : 0.841063 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.69 [[ 0.95128482 0.27502911 -0.13934194 -12.74505769] [ -0.28349843 0.95793018 -0.04470351 20.56896285] [ 0.12118508 0.082029 0.98923476 15.68615496] [ 0. 0. 0. 1. ]] SLAMing on 72.684839173 meters Centerline goodness : 0.837155 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.57, Z:15.69 [[ 0.95093805 0.27585594 -0.14007261 -12.74358124] [ -0.28440322 0.95765777 -0.04479293 20.56964044] [ 0.12178523 0.0824324 0.98912752 15.6868303 ] [ 0. 0. 0. 1. ]] SLAMing on 72.714839173 meters Centerline goodness : 0.841992 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.57, Z:15.69 [[ 0.94993624 0.27866861 -0.14129735 -12.74309252] [ -0.28735276 0.95677176 -0.04490207 20.57139634] [ 0.12267651 0.08325629 0.98894836 15.69078382] [ 0. 0. 0. 1. ]] SLAMing on 72.744839173 meters Centerline goodness : 0.844764 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.57, Z:15.69 [[ 0.94881319 0.28274111 -0.14075156 -12.74268829] [ -0.29101063 0.95581114 -0.04168774 20.57205287] [ 0.12274507 0.08051408 0.98916689 15.69177781] [ 0. 0. 0. 1. ]] SLAMing on 72.774839173 meters Centerline goodness : 0.836715 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.57, Z:15.69 [[ 0.94742425 0.28709262 -0.14129797 -12.73769912] [ -0.29507459 0.95468762 -0.03876245 20.57319296] [ 0.12376701 0.07841793 0.98920794 15.69047836] [ 0. 0. 0. 1. ]] SLAMing on 72.804839173 meters Centerline goodness : 0.829502 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.58, Z:15.69 [[ 0.94613142 0.28516826 -0.15334404 -12.73773735] [ -0.29379807 0.95517299 -0.03643157 20.5778127 ] [ 0.13608096 0.07952124 0.98750106 15.6925584 ] [ 0. 0. 0. 1. ]] SLAMing on 72.834839173 meters Centerline goodness : 0.819414 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.69 [[ 0.94464723 0.28353494 -0.16507438 -12.73305056] [ -0.29231955 0.95581526 -0.03108799 20.57878355] [ 0.14896608 0.07762165 0.98579105 15.6894955 ] [ 0. 0. 0. 1. ]] SLAMing on 72.86483917300001 meters Centerline goodness : 0.806109 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.69 [[ 0.94394564 0.27923803 -0.17604759 -12.73454152] [ -0.28821237 0.95718228 -0.02712396 20.57921012] [ 0.1609356 0.07634264 0.98400789 15.69134281] [ 0. 0. 0. 1. ]] SLAMing on 72.894839173 meters Centerline goodness : 0.791943 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.69 [[ 0.94339125 0.27398451 -0.18693699 -12.73442475] [ -0.2828868 0.95889633 -0.02220105 20.57713637] [ 0.17317045 0.07382628 0.98212101 15.69148742] [ 0. 0. 0. 1. ]] SLAMing on 72.924839173 meters Centerline goodness : 0.796917 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.69 [[ 0.94355594 0.27288925 -0.18770626 -12.7342252 ] [ -0.28207231 0.95910389 -0.02355736 20.57891947] [ 0.17360126 0.07517442 0.98194267 15.69326351] [ 0. 0. 0. 1. ]] SLAMing on 72.954839173 meters Centerline goodness : 0.797503 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.70 [[ 0.94426884 0.26892609 -0.18982919 -12.7330054 ] [ -0.27897733 0.95989338 -0.02786309 20.58105838] [ 0.17472267 0.07926829 0.98142169 15.69544436] [ 0. 0. 0. 1. ]] SLAMing on 72.984839173 meters Centerline goodness : 0.797015 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.58, Z:15.70 [[ 0.9438298 0.2620518 -0.2012813 -12.73630382] [ -0.27289355 0.96164706 -0.0276415 20.58285513] [ 0.18631806 0.08101724 0.97914339 15.70088323] [ 0. 0. 0. 1. ]] SLAMing on 73.014839173 meters Centerline goodness : 0.783491 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.70 [[ 0.9433914 0.2615376 -0.20398713 -12.72861072] [ -0.27245504 0.96179247 -0.02689801 20.57513868] [ 0.18915845 0.08095267 0.97860398 15.69702345] [ 0. 0. 0. 1. ]] SLAMing on 73.044839173 meters Centerline goodness : 0.780223 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.58, Z:15.70 [[ 0.94155852 0.25703266 -0.21771948 -12.7274524 ] [ -0.26906837 0.96274136 -0.02704234 20.57858622] [ 0.20265678 0.08404337 0.97563668 15.70044557] [ 0. 0. 0. 1. ]] SLAMing on 73.074839173 meters Centerline goodness : 0.769213 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.58, Z:15.70 [[ 0.93961637 0.2622545 -0.2198719 -12.7144168 ] [ -0.27370561 0.96154366 -0.02278199 20.57928291] [ 0.20544176 0.0815865 0.9752627 15.69507068] [ 0. 0. 0. 1. ]] SLAMing on 73.104839173 meters Centerline goodness : 0.762018 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.58, Z:15.69 [[ 9.38411861e-01 2.66221844e-01 -2.20247835e-01 -1.27080486e+01] [-2.76977550e-01 9.60690537e-01 -1.88978552e-02 2.05779934e+01] [ 2.06558989e-01 7.87376773e-02 9.75260869e-01 1.56919536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.134839173 meters Centerline goodness : 0.758560 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.58, Z:15.69 [[ 9.36604029e-01 2.71594625e-01 -2.21380335e-01 -1.27020230e+01] [-2.81773690e-01 9.59361345e-01 -1.51458308e-02 2.05775130e+01] [ 2.08270210e-01 7.65648001e-02 9.75069921e-01 1.56914566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.164839173 meters Centerline goodness : 0.762134 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.58, Z:15.70 [[ 9.34970079e-01 2.76869448e-01 -2.21752698e-01 -1.27022715e+01] [-2.86592474e-01 9.57973964e-01 -1.22734270e-02 2.05781502e+01] [ 2.09035174e-01 7.50279415e-02 9.75025694e-01 1.56954585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.194839173 meters Centerline goodness : 0.773374 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.58, Z:15.70 [[ 9.34786023e-01 2.76677790e-01 -2.22765554e-01 -1.27031872e+01] [-2.86811024e-01 9.57887350e-01 -1.38297033e-02 2.05809819e+01] [ 2.09557934e-01 7.68194300e-02 9.74773947e-01 1.56993772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.224839173 meters Centerline goodness : 0.810474 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.59, Z:15.71 [[ 9.37067979e-01 2.75842737e-01 -2.14042958e-01 -1.27196084e+01] [-2.86533197e-01 9.57861431e-01 -2.00051646e-02 2.05883727e+01] [ 1.99505214e-01 8.00766120e-02 9.76619376e-01 1.57080609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25483917300001 meters Centerline goodness : 0.815437 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.59, Z:15.71 [[ 0.93788834 0.27228038 -0.21500895 -12.72431401] [ -0.2838481 0.95856183 -0.0242792 20.59144587] [ 0.19948862 0.08380107 0.97631023 15.71349679] [ 0. 0. 0. 1. ]] SLAMing on 73.284839173 meters Centerline goodness : 0.821646 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.59, Z:15.72 [[ 0.93850796 0.26913011 -0.21626786 -12.7263063 ] [ -0.28139088 0.95920036 -0.02745616 20.5927079 ] [ 0.20005493 0.08662363 0.97594793 15.7168109 ] [ 0. 0. 0. 1. ]] SLAMing on 73.314839173 meters Centerline goodness : 0.842244 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.59, Z:15.72 [[ 0.94060518 0.26098368 -0.21713917 -12.73364243] [ -0.27432655 0.96106297 -0.03321015 20.58730595] [ 0.20001711 0.09080467 0.97557556 15.72062196] [ 0. 0. 0. 1. ]] SLAMing on 73.344839173 meters Centerline goodness : 0.842244 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.59, Z:15.72 [[ 0.94060518 0.26098368 -0.21713917 -12.73364243] [ -0.27432655 0.96106297 -0.03321015 20.58730595] [ 0.20001711 0.09080467 0.97557556 15.72062196] [ 0. 0. 0. 1. ]] SLAMing on 73.374839173 meters Centerline goodness : 0.860690 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.58, Z:15.73 [[ 0.94441522 0.25138453 -0.21186249 -12.75036619] [ -0.26485296 0.96356659 -0.03731401 20.57839061] [ 0.19476346 0.09135232 0.97658689 15.72593752] [ 0. 0. 0. 1. ]] SLAMing on 73.404839173 meters Centerline goodness : 0.863018 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.58, Z:15.73 [[ 0.9453852 0.24736983 -0.21226162 -12.7545458 ] [ -0.26138171 0.96439586 -0.04025201 20.57657068] [ 0.1947471 0.09353496 0.97638352 15.72865434] [ 0. 0. 0. 1. ]] SLAMing on 73.434839173 meters Centerline goodness : 0.873039 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.57, Z:15.73 [[ 0.94566322 0.24725563 -0.21115332 -12.75833419] [ -0.26081695 0.96461873 -0.03853874 20.57480274] [ 0.19415352 0.09151704 0.97669291 15.73031095] [ 0. 0. 0. 1. ]] SLAMing on 73.464839173 meters Centerline goodness : 0.865206 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.58, Z:15.73 [[ 0.94537792 0.2474694 -0.21217796 -12.75424179] [ -0.26112946 0.96453491 -0.03852029 20.57586912] [ 0.19512046 0.09182215 0.97647156 15.72921158] [ 0. 0. 0. 1. ]] SLAMing on 73.494839173 meters Centerline goodness : 0.852953 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.57, Z:15.73 [[ 0.9415238 0.25130067 -0.22445693 -12.74767302] [ -0.26389517 0.96415964 -0.02748687 20.57145176] [ 0.20950484 0.08511264 0.97409628 15.72829256] [ 0. 0. 0. 1. ]] SLAMing on 73.524839173 meters Centerline goodness : 0.846039 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.57, Z:15.73 [[ 0.94078482 0.25230775 -0.22641715 -12.74118767] [ -0.2648597 0.96392641 -0.02636673 20.56706774] [ 0.21159694 0.0847742 0.97367349 15.72572272] [ 0. 0. 0. 1. ]] SLAMing on 73.554839173 meters Centerline goodness : 0.829419 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.55, Z:15.73 [[ 0.93727414 0.25827605 -0.23411677 -12.72670965] [ -0.27176838 0.96199089 -0.02674848 20.55069195] [ 0.21830971 0.08869619 0.97184045 15.7269272 ] [ 0. 0. 0. 1. ]] SLAMing on 73.584839173 meters Centerline goodness : 0.822787 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.73 [[ 0.93395159 0.26486477 -0.23996057 -12.71674396] [ -0.27875045 0.96003136 -0.02525804 20.53830922] [ 0.22367971 0.0904789 0.97045399 15.72947615] [ 0. 0. 0. 1. ]] SLAMing on 73.61483917300001 meters Centerline goodness : 0.826736 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.73 [[ 0.93342931 0.26624343 -0.24046653 -12.71568355] [ -0.28007625 0.95966119 -0.02465165 20.53778516] [ 0.22420306 0.09035954 0.97034434 15.73016591] [ 0. 0. 0. 1. ]] SLAMing on 73.644839173 meters Centerline goodness : 0.834410 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.73 [[ 9.32543148e-01 2.70634217e-01 -2.38998739e-01 -1.27177398e+01] [-2.83500185e-01 9.58752555e-01 -2.05227360e-02 2.05385745e+01] [ 2.23586497e-01 8.68945237e-02 9.70802977e-01 1.57323614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.674839173 meters Centerline goodness : 0.840503 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.73 [[ 0.93272716 0.270344 -0.2386088 -12.71946757] [ -0.28317745 0.95884686 -0.02057262 20.53958646] [ 0.22322761 0.08675727 0.97089784 15.73351346] [ 0. 0. 0. 1. ]] SLAMing on 73.704839173 meters Centerline goodness : 0.839170 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.73 [[ 0.93286275 0.27002175 -0.2384436 -12.72067252] [ -0.28282747 0.95895048 -0.02055716 20.53973001] [ 0.22310472 0.08661541 0.97093875 15.73444124] [ 0. 0. 0. 1. ]] SLAMing on 73.734839173 meters Centerline goodness : 0.845237 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.54, Z:15.74 [[ 0.93334913 0.26540429 -0.24170224 -12.72458331] [ -0.27972151 0.95972007 -0.02632996 20.53531466] [ 0.2249784 0.09218437 0.96999318 15.74094977] [ 0. 0. 0. 1. ]] SLAMing on 73.764839173 meters Centerline goodness : 0.851605 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.52, Z:15.75 [[ 0.93241599 0.26422612 -0.24654609 -12.73008767] [ -0.28035185 0.9593601 -0.03210981 20.52102484] [ 0.22804223 0.09905935 0.96859898 15.74884111] [ 0. 0. 0. 1. ]] SLAMing on 73.794839173 meters Centerline goodness : 0.854949 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.52, Z:15.75 [[ 0.93277357 0.26145351 -0.24814416 -12.72962671] [ -0.27824922 0.95988668 -0.03456773 20.51809417] [ 0.22915242 0.10128978 0.96810617 15.749558 ] [ 0. 0. 0. 1. ]] SLAMing on 73.824839173 meters Centerline goodness : 0.854189 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.52, Z:15.74 [[ 0.93324568 0.26068524 -0.24717547 -12.72498845] [ -0.27669759 0.96043122 -0.03178543 20.51641422] [ 0.22910905 0.09805647 0.96844926 15.74378315] [ 0. 0. 0. 1. ]] SLAMing on 73.854839173 meters Centerline goodness : 0.848226 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.52, Z:15.74 [[ 0.93347837 0.2596265 -0.24741101 -12.72218659] [ -0.27550605 0.9607912 -0.031252 20.51533174] [ 0.22959647 0.0973363 0.96840648 15.74146915] [ 0. 0. 0. 1. ]] SLAMing on 73.884839173 meters Centerline goodness : 0.847281 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.51, Z:15.74 [[ 0.93475956 0.25295571 -0.24947539 -12.72537841] [ -0.26979039 0.96227632 -0.03517725 20.50606155] [ 0.23116597 0.10018833 0.96774201 15.74354865] [ 0. 0. 0. 1. ]] SLAMing on 73.914839173 meters Centerline goodness : 0.847335 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.50, Z:15.75 [[ 0.93549417 0.24696876 -0.25269962 -12.72682237] [ -0.26530327 0.96330588 -0.0406934 20.4992195 ] [ 0.23337703 0.10511047 0.96668865 15.74698617] [ 0. 0. 0. 1. ]] SLAMing on 73.944839173 meters Centerline goodness : 0.848627 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.49, Z:15.75 [[ 0.93710426 0.24910841 -0.24450073 -12.72254243] [ -0.266835 0.96283871 -0.04172175 20.48686123] [ 0.22502153 0.10433898 0.9687511 15.74641553] [ 0. 0. 0. 1. ]] SLAMing on 73.974839173 meters Centerline goodness : 0.849930 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.47, Z:15.74 [[ 0.93925739 0.25213439 -0.23286005 -12.72122853] [ -0.26814096 0.9625772 -0.03931354 20.47308611] [ 0.21423348 0.09936485 0.97171531 15.74252601] [ 0. 0. 0. 1. ]] SLAMing on 74.00483917300001 meters Centerline goodness : 0.854077 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.47, Z:15.74 [[ 0.9396212 0.25347604 -0.22991716 -12.72144889] [ -0.2680196 0.96281817 -0.03386247 20.47068627] [ 0.21278509 0.0934402 0.97262091 15.73743998] [ 0. 0. 0. 1. ]] SLAMing on 74.034839173 meters Centerline goodness : 0.852314 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.47, Z:15.74 [[ 0.93945005 0.25386013 -0.23019263 -12.72085412] [ -0.26811547 0.96284245 -0.03238065 20.46729867] [ 0.21341908 0.09213821 0.97260621 15.73699562] [ 0. 0. 0. 1. ]] SLAMing on 74.064839173 meters Centerline goodness : 0.851724 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.45, Z:15.74 [[ 0.93843631 0.25212494 -0.23615738 -12.71798163] [ -0.2678195 0.96278222 -0.03637459 20.45234288] [ 0.21819718 0.09738279 0.97103377 15.74157854] [ 0. 0. 0. 1. ]] SLAMing on 74.094839173 meters Centerline goodness : 0.846813 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.44, Z:15.74 [[ 0.93769306 0.25161114 -0.23963214 -12.71591408] [ -0.26814288 0.9626084 -0.0385287 20.44329006] [ 0.22097766 0.10038374 0.97009895 15.74407872] [ 0. 0. 0. 1. ]] SLAMing on 74.124839173 meters Centerline goodness : 0.847983 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.43, Z:15.74 [[ 0.93886246 0.25495866 -0.23137276 -12.71100561] [ -0.27016004 0.96214095 -0.03603255 20.42620162] [ 0.2134264 0.09633729 0.97219767 15.7415355 ] [ 0. 0. 0. 1. ]] SLAMing on 74.154839173 meters Centerline goodness : 0.848871 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.42, Z:15.74 [[ 0.94057447 0.26073708 -0.21756801 -12.70869952] [ -0.27383869 0.96124762 -0.03186494 20.42000086] [ 0.20082836 0.08954989 0.97552488 15.73521973] [ 0. 0. 0. 1. ]] SLAMing on 74.184839173 meters Centerline goodness : 0.849329 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.41, Z:15.73 [[ 0.94196999 0.26559373 -0.20531077 -12.70414337] [ -0.27683706 0.9605208 -0.02758696 20.41113087] [ 0.18987834 0.08282372 0.97830795 15.72940311] [ 0. 0. 0. 1. ]] SLAMing on 74.214839173 meters Centerline goodness : 0.849834 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.41, Z:15.73 [[ 0.94174572 0.26537803 -0.20661438 -12.70212076] [ -0.27667613 0.96057502 -0.02731199 20.40544293] [ 0.19122061 0.08288621 0.97804118 15.7285815 ] [ 0. 0. 0. 1. ]] SLAMing on 74.244839173 meters Centerline goodness : 0.846241 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.39, Z:15.73 [[ 0.94156496 0.26231509 -0.21129652 -12.69656672] [ -0.27439791 0.96116326 -0.0295122 20.3916491 ] [ 0.19534896 0.08576698 0.97697636 15.72774177] [ 0. 0. 0. 1. ]] SLAMing on 74.274839173 meters Centerline goodness : 0.846999 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.39, Z:15.73 [[ 0.941698 0.26019236 -0.21331856 -12.69478158] [ -0.27284621 0.96153648 -0.0316629 20.38664646] [ 0.19687513 0.08802005 0.97646948 15.727826 ] [ 0. 0. 0. 1. ]] SLAMing on 74.304839173 meters Centerline goodness : 0.844763 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.38, Z:15.73 [[ 0.94028775 0.26274117 -0.21639322 -12.68949911] [ -0.27552287 0.96080652 -0.03062642 20.37789995] [ 0.19986519 0.08841893 0.9758258 15.72789872] [ 0. 0. 0. 1. ]] SLAMing on 74.334839173 meters Centerline goodness : 0.842762 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.37, Z:15.73 [[ 0.93881537 0.26625788 -0.21847757 -12.68245568] [ -0.27895714 0.9598682 -0.02891274 20.37318955] [ 0.20201143 0.0880896 0.97541356 15.72566885] [ 0. 0. 0. 1. ]] SLAMing on 74.36483917300001 meters Centerline goodness : 0.818550 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.36, Z:15.71 [[ 9.34758764e-01 2.79517003e-01 -2.19308682e-01 -1.26622600e+01] [-2.90303659e-01 9.56766660e-01 -1.79260589e-02 2.03588700e+01] [ 2.04816597e-01 8.04226536e-02 9.75490829e-01 1.57143369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.394839173 meters Centerline goodness : 0.801837 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.34, Z:15.71 [[ 9.33632395e-01 2.79301146e-01 -2.24324366e-01 -1.26528208e+01] [-2.89969828e-01 9.56911580e-01 -1.54184092e-02 2.03417240e+01] [ 2.10352204e-01 7.94424243e-02 9.74392555e-01 1.57097500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters Centerline goodness : 0.798038 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.33, Z:15.71 [[ 0.93412048 0.27376769 -0.2290637 -12.6482794 ] [ -0.28600902 0.95798806 -0.02139449 20.33452056] [ 0.21358317 0.08549931 0.97317629 15.71035724] [ 0. 0. 0. 1. ]] SLAMing on 74.454839173 meters Centerline goodness : 0.804529 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.33, Z:15.71 [[ 0.93545649 0.27574746 -0.22109836 -12.64347278] [ -0.28809948 0.95727273 -0.02505221 20.32601586] [ 0.20474335 0.08713357 0.97492969 15.70601734] [ 0. 0. 0. 1. ]] SLAMing on 74.484839173 meters Centerline goodness : 0.808473 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.32, Z:15.70 [[ 0.93931161 0.27437314 -0.20594433 -12.64386339] [ -0.28489967 0.95828781 -0.0227301 20.32089447] [ 0.19111741 0.08002412 0.97829969 15.69710175] [ 0. 0. 0. 1. ]] SLAMing on 74.514839173 meters Centerline goodness : 0.811951 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.32, Z:15.69 [[ 9.42080993e-01 2.76413258e-01 -1.89945029e-01 -1.26450033e+01] [-2.85112203e-01 9.58294752e-01 -1.95499327e-02 2.03182713e+01] [ 1.76619464e-01 7.25732656e-02 9.81600064e-01 1.56892813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.544839173 meters Centerline goodness : 0.821253 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.31, Z:15.69 [[ 0.94615552 0.26827949 -0.18115148 -12.64441344] [ -0.27777115 0.96021695 -0.02875048 20.31126373] [ 0.16623155 0.07752108 0.98303487 15.68846689] [ 0. 0. 0. 1. ]] SLAMing on 74.574839173 meters Centerline goodness : 0.827419 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.30, Z:15.70 [[ 0.94998991 0.25579051 -0.17913788 -12.64434638] [ -0.26830869 0.96207975 -0.04912237 20.30191742] [ 0.15977989 0.09473001 0.98259687 15.69866538] [ 0. 0. 0. 1. ]] SLAMing on 74.604839173 meters Centerline goodness : 0.835009 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.30, Z:15.70 [[ 0.95181916 0.2565654 -0.16797167 -12.64690982] [ -0.26855373 0.96182479 -0.05264947 20.29669815] [ 0.14805128 0.09522219 0.98438486 15.70022524] [ 0. 0. 0. 1. ]] SLAMing on 74.634839173 meters Centerline goodness : 0.837591 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.30, Z:15.70 [[ 0.95249525 0.25469981 -0.16697544 -12.64914312] [ -0.266573 0.96237512 -0.05265901 20.29806261] [ 0.14728077 0.0946686 0.98455382 15.70050308] [ 0. 0. 0. 1. ]] SLAMing on 74.664839173 meters Centerline goodness : 0.839930 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.30, Z:15.69 [[ 0.95222337 0.25939863 -0.16119246 -12.65019322] [ -0.2692232 0.96215948 -0.04204765 20.29982349] [ 0.14418575 0.08343551 0.98602687 15.69370441] [ 0. 0. 0. 1. ]] SLAMing on 74.694839173 meters Centerline goodness : 0.839411 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.30, Z:15.69 [[ 0.95231283 0.25900078 -0.16130364 -12.64942535] [ -0.26874285 0.96231978 -0.0414479 20.29958612] [ 0.14449065 0.08282057 0.98603408 15.69307033] [ 0. 0. 0. 1. ]] SLAMing on 74.724839173 meters Centerline goodness : 0.843279 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.30, Z:15.70 [[ 0.95410347 0.2511598 -0.16311137 -12.65300639] [ -0.26226504 0.96368934 -0.05019858 20.30284047] [ 0.14458083 0.09067305 0.98532978 15.6980033 ] [ 0. 0. 0. 1. ]] SLAMing on 74.75483917300001 meters Centerline goodness : 0.848623 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.31, Z:15.70 [[ 0.95490967 0.24691292 -0.16486823 -12.65603609] [ -0.25906653 0.96420736 -0.05646862 20.30552467] [ 0.14502432 0.09663427 0.9846978 15.70369633] [ 0. 0. 0. 1. ]] SLAMing on 74.784839173 meters Centerline goodness : 0.850427 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.31, Z:15.71 [[ 0.95475234 0.2451971 -0.16830434 -12.65722246] [ -0.25873542 0.96385636 -0.06353651 20.30993377] [ 0.14664224 0.10420793 0.9836853 15.71224613] [ 0. 0. 0. 1. ]] SLAMing on 74.814839173 meters Centerline goodness : 0.852919 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.31, Z:15.72 [[ 0.95245109 0.25431161 -0.16781696 -12.65576888] [ -0.26714734 0.96187415 -0.05856984 20.31399143] [ 0.14652381 0.10061676 0.98407675 15.71509461] [ 0. 0. 0. 1. ]] SLAMing on 74.844839173 meters Centerline goodness : 0.852100 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.32, Z:15.71 [[ 0.95141486 0.25880944 -0.16681561 -12.65377272] [ -0.27099069 0.9610351 -0.05454893 20.31572878] [ 0.14619788 0.09710414 0.98447802 15.71377857] [ 0. 0. 0. 1. ]] SLAMing on 74.874839173 meters Centerline goodness : 0.847578 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.31, Z:15.71 [[ 0.9494988 0.26590192 -0.1665779 -12.64927516] [ -0.27721409 0.95958976 -0.04837192 20.31475327] [ 0.14698426 0.09210682 0.98484108 15.71202462] [ 0. 0. 0. 1. ]] SLAMing on 74.904839173 meters Centerline goodness : 0.845846 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.32, Z:15.71 [[ 0.94916269 0.26663086 -0.16732654 -12.64719063] [ -0.27809687 0.95930887 -0.04887346 20.31591593] [ 0.14748667 0.09292185 0.9846894 15.71214794] [ 0. 0. 0. 1. ]] SLAMing on 74.934839173 meters Centerline goodness : 0.852838 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.32, Z:15.71 [[ 0.94825487 0.27002827 -0.16702526 -12.64552163] [ -0.28130246 0.95844088 -0.04753949 20.32110848] [ 0.14724683 0.09206417 0.98480585 15.71320849] [ 0. 0. 0. 1. ]] SLAMing on 74.964839173 meters Centerline goodness : 0.851179 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.32, Z:15.71 [[ 0.94686954 0.27445687 -0.16766486 -12.64181177] [ -0.28545561 0.95733575 -0.04498168 20.32120217] [ 0.14816603 0.09045266 0.98481732 15.71302984] [ 0. 0. 0. 1. ]] SLAMing on 74.994839173 meters Centerline goodness : 0.839993 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.71 [[ 0.94351829 0.28276615 -0.17267467 -12.630888 ] [ -0.2940882 0.95479227 -0.04340334 20.31934957] [ 0.15259544 0.09173342 0.98402216 15.71361614] [ 0. 0. 0. 1. ]] SLAMing on 75.024839173 meters Centerline goodness : 0.842455 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.33, Z:15.72 [[ 0.94224887 0.28765792 -0.17152254 -12.62974695] [ -0.29846483 0.95356571 -0.04038782 20.32603398] [ 0.15194014 0.08924882 0.98435199 15.71517799] [ 0. 0. 0. 1. ]] SLAMing on 75.054839173 meters Centerline goodness : 0.846783 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.33, Z:15.71 [[ 0.94226787 0.28909746 -0.16897906 -12.6294314 ] [ -0.29918481 0.95347459 -0.03707649 20.33189949] [ 0.15039852 0.08549195 0.98492203 15.71297929] [ 0. 0. 0. 1. ]] SLAMing on 75.084839173 meters Centerline goodness : 0.848430 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.34, Z:15.71 [[ 0.94283881 0.28757261 -0.16839527 -12.62789327] [ -0.29767318 0.95392639 -0.03761817 20.33667387] [ 0.14981873 0.08559463 0.98500148 15.71132807] [ 0. 0. 0. 1. ]] SLAMing on 75.11483917300001 meters Centerline goodness : 0.844092 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.33, Z:15.72 [[ 0.94417808 0.28062506 -0.1725611 -12.63042853] [ -0.29244322 0.95513478 -0.04684555 20.33482822] [ 0.15167307 0.09469487 0.98388422 15.71809946] [ 0. 0. 0. 1. ]] SLAMing on 75.144839173 meters Centerline goodness : 0.844745 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.33, Z:15.72 [[ 0.94474326 0.27539187 -0.1778187 -12.63106276] [ -0.2890446 0.95570172 -0.05556476 20.33004682] [ 0.15463955 0.10389197 0.98249329 15.72478689] [ 0. 0. 0. 1. ]] SLAMing on 75.174839173 meters Centerline goodness : 0.842885 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.73 [[ 0.94569594 0.26927214 -0.18207607 -12.63198507] [ -0.28441094 0.95666946 -0.06240164 20.32363327] [ 0.1573836 0.1107974 0.98130237 15.72916373] [ 0. 0. 0. 1. ]] SLAMing on 75.204839173 meters Centerline goodness : 0.844603 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.72 [[ 0.94667443 0.2675066 -0.17957654 -12.63054903] [ -0.28172025 0.95771234 -0.05848749 20.32327493] [ 0.15633688 0.10595895 0.98200381 15.72278372] [ 0. 0. 0. 1. ]] SLAMing on 75.234839173 meters Centerline goodness : 0.844603 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.72 [[ 0.94667443 0.2675066 -0.17957654 -12.63054903] [ -0.28172025 0.95771234 -0.05848749 20.32327493] [ 0.15633688 0.10595895 0.98200381 15.72278372] [ 0. 0. 0. 1. ]] SLAMing on 75.264839173 meters Centerline goodness : 0.839468 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.72 [[ 0.94687827 0.26773612 -0.1781542 -12.62870083] [ -0.28127131 0.95804154 -0.05516213 20.32290594] [ 0.15591023 0.10234149 0.9824552 15.71855204] [ 0. 0. 0. 1. ]] SLAMing on 75.294839173 meters Centerline goodness : 0.833066 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.32, Z:15.72 [[ 0.94704616 0.26763657 -0.17740979 -12.63014255] [ -0.28048227 0.95848661 -0.05131387 20.3156082 ] [ 0.15631144 0.0983569 0.98279838 15.71703333] [ 0. 0. 0. 1. ]] SLAMing on 75.324839173 meters Centerline goodness : 0.829750 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.31, Z:15.72 [[ 0.94719001 0.26846361 -0.17538066 -12.62070607] [ -0.28250926 0.95736897 -0.06027583 20.30606505] [ 0.15172214 0.10663932 0.98265378 15.7161347 ] [ 0. 0. 0. 1. ]] SLAMing on 75.354839173 meters Centerline goodness : 0.826543 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.29, Z:15.72 [[ 0.94685349 0.26726078 -0.17899763 -12.60587979] [ -0.28390578 0.95595705 -0.07445547 20.29496007] [ 0.15121502 0.12131689 0.98102815 15.71945369] [ 0. 0. 0. 1. ]] SLAMing on 75.384839173 meters Centerline goodness : 0.826722 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.29, Z:15.72 [[ 0.94600483 0.26927269 -0.18046349 -12.60459555] [ -0.28617671 0.95525159 -0.07481502 20.29411424] [ 0.1522424 0.12241982 0.9807322 15.72172877] [ 0. 0. 0. 1. ]] SLAMing on 75.414839173 meters Centerline goodness : 0.822397 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.29, Z:15.72 [[ 0.94314907 0.28032411 -0.17857272 -12.60224467] [ -0.29580439 0.95293846 -0.06639321 20.29443596] [ 0.1515572 0.11544129 0.98168413 15.72110361] [ 0. 0. 0. 1. ]] SLAMing on 75.444839173 meters Centerline goodness : 0.824310 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.29, Z:15.72 [[ 0.94168358 0.28524411 -0.17851563 -12.60082567] [ -0.30023599 0.95178611 -0.06294082 20.29375949] [ 0.1519552 0.11286715 0.9819219 15.72197061] [ 0. 0. 0. 1. ]] SLAMing on 75.474839173 meters Centerline goodness : 0.818696 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.29, Z:15.73 [[ 0.94051448 0.28777344 -0.18060722 -12.60040543] [ -0.30322029 0.95076128 -0.06411277 20.29287684] [ 0.1532644 0.11506276 0.98146349 15.72652312] [ 0. 0. 0. 1. ]] SLAMing on 75.50483917300001 meters Centerline goodness : 0.817125 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.29, Z:15.73 [[ 0.94005373 0.28843056 -0.18195271 -12.60068168] [ -0.30413854 0.95042743 -0.06471048 20.29128776] [ 0.15426837 0.11617016 0.98117571 15.72933586] [ 0. 0. 0. 1. ]] SLAMing on 75.534839173 meters Centerline goodness : 0.813485 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.28, Z:15.73 [[ 0.93974576 0.28575425 -0.18767636 -12.5981944 ] [ -0.30297844 0.95042402 -0.0699875 20.28312122] [ 0.15837289 0.12263234 0.97973432 15.73365182] [ 0. 0. 0. 1. ]] SLAMing on 75.564839173 meters Centerline goodness : 0.811016 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.28, Z:15.73 [[ 0.93906097 0.28723077 -0.18884644 -12.59710878] [ -0.30432057 0.95012893 -0.06814695 20.27709978] [ 0.15985457 0.12146399 0.97963923 15.7337806 ] [ 0. 0. 0. 1. ]] SLAMing on 75.594839173 meters Centerline goodness : 0.810199 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.28, Z:15.73 [[ 0.9396614 0.28144665 -0.19448456 -12.59812704] [ -0.29767385 0.95282041 -0.05935954 20.27571082] [ 0.16860231 0.11367083 0.97910786 15.73284343] [ 0. 0. 0. 1. ]] SLAMing on 75.624839173 meters Centerline goodness : 0.802752 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.27, Z:15.72 [[ 0.94082463 0.27936358 -0.19184633 -12.59654481] [ -0.29446996 0.95409025 -0.05476533 20.26882951] [ 0.16773927 0.10801755 0.97989578 15.72444677] [ 0. 0. 0. 1. ]] SLAMing on 75.654839173 meters Centerline goodness : 0.801350 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.26, Z:15.72 [[ 0.94160031 0.27622327 -0.19258649 -12.60208542] [ -0.28961488 0.95609993 -0.04467816 20.26404539] [ 0.17179078 0.09784488 0.98026237 15.72269296] [ 0. 0. 0. 1. ]] SLAMing on 75.684839173 meters Centerline goodness : 0.799333 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.26, Z:15.72 [[ 0.9417108 0.2761003 -0.19222227 -12.60147178] [ -0.28935619 0.95620398 -0.04412416 20.25930259] [ 0.17162101 0.0971729 0.98035894 15.72042903] [ 0. 0. 0. 1. ]] SLAMing on 75.714839173 meters Centerline goodness : 0.796297 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.25, Z:15.72 [[ 0.94147793 0.27741832 -0.1914638 -12.60344882] [ -0.2902659 0.95601926 -0.04210553 20.25296701] [ 0.17136224 0.09521684 0.98059611 15.72000397] [ 0. 0. 0. 1. ]] SLAMing on 75.744839173 meters Centerline goodness : 0.794183 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.25, Z:15.72 [[ 0.94118813 0.2786528 -0.19109559 -12.60554716] [ -0.29125798 0.95577346 -0.04081518 20.25138414] [ 0.17127082 0.09407288 0.98072249 15.72139217] [ 0. 0. 0. 1. ]] SLAMing on 75.774839173 meters Centerline goodness : 0.791182 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.25, Z:15.72 [[ 0.9398399 0.28425773 -0.18946901 -12.6065481 ] [ -0.29590214 0.9545513 -0.03568946 20.24882571] [ 0.17071289 0.08960666 0.98123787 15.72141043] [ 0. 0. 0. 1. ]] SLAMing on 75.804839173 meters Centerline goodness : 0.789574 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.25, Z:15.72 [[ 0.93823313 0.28803792 -0.19171008 -12.6186711 ] [ -0.29771137 0.95437673 -0.02308682 20.24884941] [ 0.17631376 0.07873509 0.98118003 15.72220906] [ 0. 0. 0. 1. ]] SLAMing on 75.834839173 meters Centerline goodness : 0.786094 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.25, Z:15.72 [[ 9.37576711e-01 2.90783673e-01 -1.90774123e-01 -1.26342482e+01] [-2.98630299e-01 9.54278892e-01 -1.31049910e-02 2.02481692e+01] [ 1.78241001e-01 6.92578678e-02 9.81546480e-01 1.57207029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86483917300001 meters Centerline goodness : 0.789310 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.25, Z:15.72 [[ 9.37389224e-01 2.91977086e-01 -1.89870548e-01 -1.26369573e+01] [-2.99569666e-01 9.53999695e-01 -1.19414294e-02 2.02457945e+01] [ 1.77649821e-01 6.80732238e-02 9.81736511e-01 1.57212725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.894839173 meters Centerline goodness : 0.787793 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.25, Z:15.71 [[ 9.38529851e-01 2.93746579e-01 -1.81313721e-01 -1.26539782e+01] [-2.97929409e-01 9.54578001e-01 4.34814748e-03 2.02502957e+01] [ 1.74355343e-01 4.99378235e-02 9.83415694e-01 1.57138721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters Centerline goodness : 0.785238 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.25, Z:15.71 [[ 9.38075494e-01 2.95458302e-01 -1.80883276e-01 -1.26486986e+01] [-2.99318338e-01 9.54133096e-01 6.21033811e-03 2.02519061e+01] [ 1.74421616e-01 4.83159154e-02 9.83484963e-01 1.57106577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.954839173 meters Centerline goodness : 0.786724 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.25, Z:15.71 [[ 9.39208018e-01 2.89020763e-01 -1.85351823e-01 -1.26485877e+01] [-2.91694742e-01 9.56419159e-01 1.32879993e-02 2.02529660e+01] [ 1.81114542e-01 4.15859566e-02 9.82582379e-01 1.57088874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters Centerline goodness : 0.786299 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.25, Z:15.71 [[ 9.41177928e-01 2.81161464e-01 -1.87436225e-01 -1.26497191e+01] [-2.85141273e-01 9.58467030e-01 5.95039945e-03 2.02532955e+01] [ 1.81324464e-01 4.78454191e-02 9.82258751e-01 1.57091240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.014839173 meters Centerline goodness : 0.790837 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.25, Z:15.71 [[ 9.43894634e-01 2.71597887e-01 -1.87876308e-01 -1.26650342e+01] [-2.77799077e-01 9.60613803e-01 -6.98533711e-03 2.02530981e+01] [ 1.78579372e-01 5.87852871e-02 9.82167856e-01 1.57104614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.044839173 meters Centerline goodness : 0.792586 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.26, Z:15.71 [[ 9.45653788e-01 2.72299274e-01 -1.77741436e-01 -1.26907758e+01] [-2.77059149e-01 9.60850693e-01 -2.04279010e-03 2.02567770e+01] [ 1.70226732e-01 5.11766632e-02 9.84075103e-01 1.57108087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.074839173 meters Centerline goodness : 0.790717 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.26, Z:15.71 [[ 9.44589813e-01 2.77047830e-01 -1.76052793e-01 -1.26915845e+01] [-2.81052699e-01 9.59689641e-01 2.27441364e-03 2.02573946e+01] [ 1.69586163e-01 4.73317246e-02 9.84378099e-01 1.57111801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.104839173 meters Centerline goodness : 0.789790 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.26, Z:15.71 [[ 9.43481633e-01 2.81688579e-01 -1.74625178e-01 -1.26915299e+01] [-2.84978938e-01 9.58511956e-01 6.46800660e-03 2.02583969e+01] [ 1.69202285e-01 4.36620525e-02 9.84613737e-01 1.57112885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.134839173 meters Centerline goodness : 0.790487 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.25, Z:15.71 [[ 9.43155067e-01 2.83802803e-01 -1.72958053e-01 -1.26956933e+01] [-2.86729478e-01 9.57975126e-01 8.35847730e-03 2.02548857e+01] [ 1.68061672e-01 4.17088322e-02 9.84893724e-01 1.57118394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.164839173 meters Centerline goodness : 0.791771 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.25, Z:15.71 [[ 9.43940662e-01 2.81184191e-01 -1.72949349e-01 -1.26997602e+01] [-2.84415774e-01 9.58680159e-01 6.32607422e-03 2.02509367e+01] [ 1.67581901e-01 4.32180842e-02 9.84910404e-01 1.57130854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.194839173 meters Centerline goodness : 0.792094 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.25, Z:15.71 [[ 9.45993886e-01 2.73182459e-01 -1.74547736e-01 -1.27007893e+01] [-2.77428259e-01 9.60746353e-01 7.79962319e-05 2.02460921e+01] [ 1.67717408e-01 4.83506906e-02 9.84648710e-01 1.57124407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.224839173 meters Centerline goodness : 0.792242 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.24, Z:15.71 [[ 9.47192181e-01 2.68217280e-01 -1.75745451e-01 -1.26995077e+01] [-2.72983038e-01 9.62013964e-01 -3.06483146e-03 2.02432839e+01] [ 1.68247537e-01 5.08785116e-02 9.84430873e-01 1.57118314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25483917300001 meters Centerline goodness : 0.791014 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.24, Z:15.71 [[ 9.48101736e-01 2.64680447e-01 -1.76202608e-01 -1.27014209e+01] [-2.69885309e-01 9.62874919e-01 -5.81470201e-03 2.02418759e+01] [ 1.68122034e-01 5.30674242e-02 9.84336746e-01 1.57126785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters Centerline goodness : 0.795300 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.24, Z:15.72 [[ 9.49738604e-01 2.58663805e-01 -1.76322491e-01 -1.27085918e+01] [-2.64612365e-01 9.64295652e-01 -1.06860772e-02 2.02358076e+01] [ 1.67262910e-01 5.68060913e-02 9.84274447e-01 1.57150686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.314839173 meters Centerline goodness : 0.797025 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.23, Z:15.72 [[ 9.50439497e-01 2.56089826e-01 -1.76303044e-01 -1.27128406e+01] [-2.62368160e-01 9.64882052e-01 -1.28675315e-02 2.02333739e+01] [ 1.66816399e-01 5.84861155e-02 9.84251829e-01 1.57168828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters Centerline goodness : 0.799046 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.23, Z:15.72 [[ 9.50239799e-01 2.57266364e-01 -1.75665426e-01 -1.27157937e+01] [-2.63255563e-01 9.64660198e-01 -1.12787765e-02 2.02306845e+01] [ 1.66555795e-01 5.69624430e-02 9.84385314e-01 1.57187209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.374839173 meters Centerline goodness : 0.798178 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.23, Z:15.72 [[ 9.49367198e-01 2.61307914e-01 -1.74413584e-01 -1.27146590e+01] [-2.66633445e-01 9.63769524e-01 -7.41021676e-03 2.02314516e+01] [ 1.66158148e-01 5.35395114e-02 9.84644601e-01 1.57180133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.404839173 meters Centerline goodness : 0.796681 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.23, Z:15.72 [[ 9.47930434e-01 2.64666788e-01 -1.77142270e-01 -1.27118943e+01] [-2.67345062e-01 9.63558662e-01 9.01792222e-03 2.02329531e+01] [ 1.73073713e-01 3.88097483e-02 9.84143939e-01 1.57159548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.434839173 meters Centerline goodness : 0.799244 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.23, Z:15.71 [[ 9.47992261e-01 2.64103652e-01 -1.77651157e-01 -1.27096032e+01] [-2.66875402e-01 9.63693107e-01 8.55076345e-03 2.02331901e+01] [ 1.73459483e-01 3.93046664e-02 9.84056376e-01 1.57147745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.464839173 meters Centerline goodness : 0.799923 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.23, Z:15.71 [[ 9.47800738e-01 2.64864020e-01 -1.77541014e-01 -1.27103799e+01] [-2.67736361e-01 9.63458786e-01 8.02545036e-03 2.02346305e+01] [ 1.73179103e-01 3.99276572e-02 9.84080678e-01 1.57146322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.494839173 meters Centerline goodness : 0.802038 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.24, Z:15.72 [[ 9.47565842e-01 2.65696057e-01 -1.77551630e-01 -1.27111667e+01] [-2.68630016e-01 9.63212210e-01 7.75582192e-03 2.02368204e+01] [ 1.73080589e-01 4.03465453e-02 9.84080924e-01 1.57152412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.524839173 meters Centerline goodness : 0.806006 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.24, Z:15.72 [[ 9.47354799e-01 2.66247058e-01 -1.77852158e-01 -1.27105256e+01] [-2.69336469e-01 9.63020729e-01 6.99591984e-03 2.02403939e+01] [ 1.73137958e-01 4.12744539e-02 9.84032351e-01 1.57150897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.554839173 meters Centerline goodness : 0.811317 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.25, Z:15.72 [[ 9.46143605e-01 2.70995141e-01 -1.77126824e-01 -1.27099886e+01] [-2.73662641e-01 9.61777134e-01 9.66975419e-03 2.02456728e+01] [ 1.72976986e-01 3.93240183e-02 9.84140531e-01 1.57154424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.584839173 meters Centerline goodness : 0.812272 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.25, Z:15.72 [[ 9.45076817e-01 2.75372012e-01 -1.76068354e-01 -1.27105045e+01] [-2.77405000e-01 9.60658810e-01 1.34579237e-02 2.02466259e+01] [ 1.72847551e-01 3.61234701e-02 9.84285944e-01 1.57163838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61483917300001 meters Centerline goodness : 0.815202 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.25, Z:15.72 [[ 9.44152621e-01 2.79808814e-01 -1.74019699e-01 -1.27157747e+01] [-2.81193786e-01 9.59497586e-01 1.71591565e-02 2.02482056e+01] [ 1.71772764e-01 3.27323955e-02 9.84592661e-01 1.57197073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters Centerline goodness : 0.818112 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.25, Z:15.72 [[ 9.44013666e-01 2.81316921e-01 -1.72333946e-01 -1.27208268e+01] [-2.82178348e-01 9.59153563e-01 1.99955402e-02 2.02455427e+01] [ 1.70919802e-01 2.97528449e-02 9.84835616e-01 1.57234776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.674839173 meters Centerline goodness : 0.818500 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.24, Z:15.72 [[ 9.44954646e-01 2.77879896e-01 -1.72752655e-01 -1.27228489e+01] [-2.79143319e-01 9.60091124e-01 1.74367521e-02 2.02445793e+01] [ 1.70703614e-01 3.17458096e-02 9.84810885e-01 1.57245466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters Centerline goodness : 0.817571 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.24, Z:15.72 [[ 9.46824647e-01 2.70249822e-01 -1.74608480e-01 -1.27213876e+01] [-2.72382845e-01 9.62112922e-01 1.20959444e-02 2.02391656e+01] [ 1.71262001e-01 3.61076162e-02 9.84563643e-01 1.57230978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.734839173 meters Centerline goodness : 0.817468 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.24, Z:15.72 [[ 9.47794165e-01 2.66437748e-01 -1.75206011e-01 -1.27221614e+01] [-2.69057903e-01 9.63081264e-01 9.07327342e-03 2.02360886e+01] [ 1.71155089e-01 3.85409665e-02 9.84489984e-01 1.57224012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters Centerline goodness : 0.822778 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.23, Z:15.72 [[ 9.48745593e-01 2.62599701e-01 -1.75849927e-01 -1.27226310e+01] [-2.65582836e-01 9.64064197e-01 6.78092509e-03 2.02295442e+01] [ 1.71311288e-01 4.02693496e-02 9.84393632e-01 1.57214397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.794839173 meters Centerline goodness : 0.823716 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.23, Z:15.72 [[ 9.48673151e-01 2.62845664e-01 -1.75873276e-01 -1.27222104e+01] [-2.65708977e-01 9.64024133e-01 7.49739149e-03 2.02266928e+01] [ 1.71516740e-01 3.96185343e-02 9.84384264e-01 1.57209009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.824839173 meters Centerline goodness : 0.826301 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.72 [[ 9.48634984e-01 2.62759815e-01 -1.76207113e-01 -1.27189572e+01] [-2.65539852e-01 9.64066322e-01 8.04448294e-03 2.02205157e+01] [ 1.71989111e-01 3.91587328e-02 9.84320242e-01 1.57174441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.854839173 meters Centerline goodness : 0.829110 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.22, Z:15.71 [[ 9.48312873e-01 2.63952966e-01 -1.76157673e-01 -1.27148836e+01] [-2.66496757e-01 9.63789042e-01 9.49530525e-03 2.02176487e+01] [ 1.72285149e-01 3.79409285e-02 9.84316165e-01 1.57141192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.884839173 meters Centerline goodness : 0.828493 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.22, Z:15.71 [[ 0.94519031 0.27191588 -0.18076791 -12.7122869 ] [ -0.27174525 0.9620126 0.02619668 20.21881318] [ 0.1810243 0.02436197 0.98317684 15.70737754] [ 0. 0. 0. 1. ]] SLAMing on 76.914839173 meters Centerline goodness : 0.825785 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.22, Z:15.70 [[ 0.94436858 0.27475179 -0.18077453 -12.70627662] [ -0.27423518 0.96124474 0.02834817 20.22013105] [ 0.18155728 0.02280362 0.98311594 15.70347081] [ 0. 0. 0. 1. ]] SLAMing on 76.944839173 meters Centerline goodness : 0.828412 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.22, Z:15.70 [[ 0.94444521 0.27331921 -0.18253725 -12.7025554 ] [ -0.27329873 0.961584 0.02576843 20.21659722] [ 0.18256791 0.02555033 0.9828612 15.69973921] [ 0. 0. 0. 1. ]] SLAMing on 76.974839173 meters Centerline goodness : 0.832765 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.21, Z:15.70 [[ 0.94517411 0.27046111 -0.18302099 -12.70558658] [ -0.2708954 0.96233131 0.02311142 20.21382462] [ 0.18237757 0.02773523 0.98283731 15.70076148] [ 0. 0. 0. 1. ]] SLAMing on 77.00483917300001 meters Centerline goodness : 0.833558 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.21, Z:15.70 [[ 0.94550317 0.26973653 -0.18238958 -12.71094572] [ -0.27016155 0.96254042 0.02299312 20.21359382] [ 0.18175943 0.02753459 0.98295745 15.70458289] [ 0. 0. 0. 1. ]] SLAMing on 77.034839173 meters Centerline goodness : 0.833660 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.46140461e-01 2.73610204e-01 -1.73077103e-01 -1.27179692e+01] [-2.72223356e-01 9.61696091e-01 3.21725527e-02 2.02211915e+01] [ 1.75250312e-01 1.66758759e-02 9.84382671e-01 1.57014477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.064839173 meters Centerline goodness : 0.831797 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.46052621e-01 2.73904822e-01 -1.73091265e-01 -1.27173281e+01] [-2.72581628e-01 9.61605557e-01 3.18435152e-02 2.02226094e+01] [ 1.75167615e-01 1.70558579e-02 9.84390880e-01 1.57007621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.094839173 meters Centerline goodness : 0.838090 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.45860637e-01 2.74471649e-01 -1.73242515e-01 -1.27175358e+01] [-2.73136246e-01 9.61443657e-01 3.19794625e-02 2.02215812e+01] [ 1.75340373e-01 1.70706954e-02 9.84359866e-01 1.57007117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.45239781e-01 2.77054091e-01 -1.72518945e-01 -1.27214553e+01] [-2.75650453e-01 9.60707341e-01 3.25304896e-02 2.02216137e+01] [ 1.74752922e-01 1.68058123e-02 9.84468883e-01 1.57018825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.154839173 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.45239781e-01 2.77054091e-01 -1.72518945e-01 -1.27214553e+01] [-2.75650453e-01 9.60707341e-01 3.25304896e-02 2.02216137e+01] [ 1.74752922e-01 1.68058123e-02 9.84468883e-01 1.57018825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.184839173 meters Centerline goodness : 0.841636 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.70 [[ 9.45034679e-01 2.77886647e-01 -1.72303413e-01 -1.27223601e+01] [-2.76433192e-01 9.60470952e-01 3.28670162e-02 2.02242118e+01] [ 1.74625728e-01 1.65699124e-02 9.84495451e-01 1.57028955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.214839173 meters Centerline goodness : 0.838704 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.22, Z:15.71 [[ 9.45120669e-01 2.77765172e-01 -1.72027409e-01 -1.27237548e+01] [-2.76141053e-01 9.60522881e-01 3.37922111e-02 2.02241285e+01] [ 1.74622562e-01 1.55661127e-02 9.84512396e-01 1.57050873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.244839173 meters Centerline goodness : 0.837150 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.22, Z:15.71 [[ 9.46913205e-01 2.71591196e-01 -1.72027916e-01 -1.27311886e+01] [-2.70434760e-01 9.62252436e-01 3.05825022e-02 2.02200505e+01] [ 1.73840219e-01 1.75633529e-02 9.84617239e-01 1.57110766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.274839173 meters Centerline goodness : 0.837352 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.22, Z:15.71 [[ 9.47723763e-01 2.68778508e-01 -1.71981923e-01 -1.27359521e+01] [-2.67907745e-01 9.63017028e-01 2.86991972e-02 2.02178389e+01] [ 1.73335248e-01 1.88763781e-02 9.84681966e-01 1.57139457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.304839173 meters Centerline goodness : 0.839463 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.21, Z:15.72 [[ 0.94898029 0.26427426 -0.17203348 -12.74471472] [ -0.26382779 0.96422261 0.02587776 20.21466125] [ 0.1727174 0.02082973 0.98475115 15.72045016] [ 0. 0. 0. 1. ]] SLAMing on 77.334839173 meters Centerline goodness : 0.840148 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.21, Z:15.72 [[ 0.94974463 0.26101385 -0.17279151 -12.74599642] [ -0.26107655 0.96504941 0.02277438 20.21476472] [ 0.17269678 0.02348197 0.98469509 15.72112351] [ 0. 0. 0. 1. ]] SLAMing on 77.36483917300001 meters Centerline goodness : 0.841881 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.21, Z:15.72 [[ 0.94977839 0.26019969 -0.17383075 -12.74283769] [ -0.2603032 0.96526213 0.02261139 20.21220434] [ 0.17367571 0.02377289 0.98451592 15.71989168] [ 0. 0. 0. 1. ]] SLAMing on 77.394839173 meters Centerline goodness : 0.843284 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.21, Z:15.72 [[ 0.95001959 0.25761664 -0.17634186 -12.73919273] [ -0.25815812 0.96589006 0.02026792 20.20609777] [ 0.1755482 0.02626916 0.9841203 15.71785682] [ 0. 0. 0. 1. ]] SLAMing on 77.424839173 meters Centerline goodness : 0.846217 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.20, Z:15.72 [[ 0.95034877 0.25752963 -0.17468746 -12.74849753] [ -0.25802424 0.96592572 0.0202732 20.19963732] [ 0.17395606 0.02580699 0.9844152 15.72071931] [ 0. 0. 0. 1. ]] SLAMing on 77.454839173 meters Centerline goodness : 0.844169 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.72 [[ 9.52511784e-01 2.55776186e-01 -1.65226647e-01 -1.27583404e+01] [-2.55220270e-01 9.66560887e-01 2.49532557e-02 2.02025444e+01] [ 1.66084063e-01 1.84009195e-02 9.85939902e-01 1.57159013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters Centerline goodness : 0.835832 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.21, Z:15.71 [[ 9.54178141e-01 2.55986219e-01 -1.54968162e-01 -1.27662706e+01] [-2.53624775e-01 9.66663322e-01 3.51638208e-02 2.02053776e+01] [ 1.58803492e-01 5.75121601e-03 9.87293459e-01 1.57110218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.514839173 meters Centerline goodness : 0.836837 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.21, Z:15.71 [[ 9.54990080e-01 2.52425227e-01 -1.55805815e-01 -1.27666408e+01] [-2.50609137e-01 9.67575063e-01 3.15207457e-02 2.02058921e+01] [ 1.58710453e-01 8.94436136e-03 9.87284655e-01 1.57107828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.544839173 meters Centerline goodness : 0.837601 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.55698536e-01 2.49173757e-01 -1.56693165e-01 -1.27678690e+01] [-2.47852109e-01 9.68386287e-01 2.82370441e-02 2.02041816e+01] [ 1.58775443e-01 1.18506297e-02 9.87243598e-01 1.57110573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.574839173 meters Centerline goodness : 0.848065 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.56249559e-01 2.45436242e-01 -1.59210025e-01 -1.27664416e+01] [-2.44793866e-01 9.69279425e-01 2.39449310e-02 2.02000202e+01] [ 1.60195956e-01 1.60763078e-02 9.86954309e-01 1.57101820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.604839173 meters Centerline goodness : 0.855978 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.56764008e-01 2.42540839e-01 -1.60550846e-01 -1.27664946e+01] [-2.42506402e-01 9.69941316e-01 2.01119058e-02 2.02001409e+01] [ 1.60602857e-01 1.96922603e-02 9.86822647e-01 1.57096779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.634839173 meters Centerline goodness : 0.855305 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.56661750e-01 2.43162334e-01 -1.60219772e-01 -1.27672997e+01] [-2.43075459e-01 9.69791875e-01 2.04460531e-02 2.02012876e+01] [ 1.60351543e-01 1.93855379e-02 9.86869588e-01 1.57101189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.664839173 meters Centerline goodness : 0.856016 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.55913309e-01 2.47383081e-01 -1.58213009e-01 -1.27672999e+01] [-2.46652694e-01 9.68792893e-01 2.45515689e-02 2.02033094e+01] [ 1.59349282e-01 1.55544935e-02 9.87099723e-01 1.57094399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.694839173 meters Centerline goodness : 0.853439 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.55926352e-01 2.47434687e-01 -1.58053423e-01 -1.27655758e+01] [-2.46732138e-01 9.68777312e-01 2.43674478e-02 2.02040970e+01] [ 1.59147922e-01 1.57033733e-02 9.87129851e-01 1.57075453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.724839173 meters Centerline goodness : 0.856697 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.70 [[ 9.55546369e-01 2.48518153e-01 -1.58650131e-01 -1.27607426e+01] [-2.47692828e-01 9.68508846e-01 2.52760429e-02 2.02013670e+01] [ 1.59935611e-01 1.51440685e-02 9.87011275e-01 1.57040109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75483917300001 meters Centerline goodness : 0.856414 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.70 [[ 9.55421687e-01 2.48730752e-01 -1.59067323e-01 -1.27597936e+01] [-2.47854336e-01 9.68457738e-01 2.56483475e-02 2.01996384e+01] [ 1.60429512e-01 1.49205383e-02 9.86934521e-01 1.57038120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters Centerline goodness : 0.856463 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.70 [[ 9.55290442e-01 2.48765069e-01 -1.59800222e-01 -1.27585180e+01] [-2.47819693e-01 9.68453388e-01 2.61425774e-02 2.01975018e+01] [ 1.61262426e-01 1.46278877e-02 9.86803149e-01 1.57040891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.814839173 meters Centerline goodness : 0.858353 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.19, Z:15.70 [[ 9.55388756e-01 2.47440440e-01 -1.61262373e-01 -1.27545364e+01] [-2.46510308e-01 9.68789398e-01 2.60724065e-02 2.01949958e+01] [ 1.62680645e-01 1.48435532e-02 9.86567117e-01 1.57034901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters Centerline goodness : 0.859110 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.55616484e-01 2.48096982e-01 -1.58886823e-01 -1.27599463e+01] [-2.46909127e-01 9.68648539e-01 2.74934528e-02 2.01963477e+01] [ 1.60726532e-01 1.29574101e-02 9.86913921e-01 1.57065078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.874839173 meters Centerline goodness : 0.860768 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.55542583e-01 2.48939352e-01 -1.58011304e-01 -1.27626691e+01] [-2.47606828e-01 9.68444711e-01 2.83848691e-02 2.01971025e+01] [ 1.60091323e-01 1.20017267e-02 9.87029243e-01 1.57081883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.904839173 meters Centerline goodness : 0.864643 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.55435549e-01 2.49679946e-01 -1.57489164e-01 -1.27649158e+01] [-2.48273664e-01 9.68259844e-01 2.88628155e-02 2.01995879e+01] [ 1.59696900e-01 1.15238519e-02 9.87098830e-01 1.57102166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.934839173 meters Centerline goodness : 0.867459 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.56048246e-01 2.46700390e-01 -1.58463463e-01 -1.27661116e+01] [-2.45821273e-01 9.68981313e-01 2.54384910e-02 2.02016010e+01] [ 1.59823821e-01 1.46332655e-02 9.87037088e-01 1.57113380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.964839173 meters Centerline goodness : 0.871300 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.56648832e-01 2.42745617e-01 -1.60927244e-01 -1.27645258e+01] [-2.42542805e-01 9.69908880e-01 2.12073392e-02 2.02030327e+01] [ 1.61232752e-01 1.87437690e-02 9.86738400e-01 1.57122159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.994839173 meters Centerline goodness : 0.874019 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.56679466e-01 2.42264271e-01 -1.61469572e-01 -1.27624524e+01] [-2.42135939e-01 9.70019870e-01 2.07758997e-02 2.02036027e+01] [ 1.61661952e-01 1.92217099e-02 9.86658978e-01 1.57113787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.024839173 meters Centerline goodness : 0.878169 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.56709236e-01 2.42228573e-01 -1.61346698e-01 -1.27611204e+01] [-2.42112941e-01 9.70027650e-01 2.06804743e-02 2.02047933e+01] [ 1.61520160e-01 1.92789229e-02 9.86681084e-01 1.57101978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.054839173 meters Centerline goodness : 0.877223 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.21, Z:15.71 [[ 9.56726606e-01 2.42426715e-01 -1.60945610e-01 -1.27617348e+01] [-2.42253784e-01 9.69985630e-01 2.09995757e-02 2.02050835e+01] [ 1.61205787e-01 1.88988303e-02 9.86739848e-01 1.57103971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.084839173 meters Centerline goodness : 0.878520 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.56913496e-01 2.41842838e-01 -1.60712794e-01 -1.27621904e+01] [-2.41507003e-01 9.70151466e-01 2.19203027e-02 2.02030548e+01] [ 1.61217021e-01 1.78374319e-02 9.86757771e-01 1.57117051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11483917300001 meters Centerline goodness : 0.877105 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.20, Z:15.71 [[ 9.57776824e-01 2.37962417e-01 -1.61361217e-01 -1.27631169e+01] [-2.38115891e-01 9.71057212e-01 1.86738759e-02 2.02017242e+01] [ 1.61134655e-01 2.05372645e-02 9.86718726e-01 1.57119691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters Centerline goodness : 0.881995 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.71 [[ 9.59294562e-01 2.30519112e-01 -1.63140682e-01 -1.27650322e+01] [-2.31621721e-01 9.72725685e-01 1.24947566e-02 2.01958582e+01] [ 1.61571412e-01 2.58007735e-02 9.86523694e-01 1.57127241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.174839173 meters Centerline goodness : 0.879632 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.19, Z:15.71 [[ 9.59956402e-01 2.27462981e-01 -1.63536841e-01 -1.27673616e+01] [-2.28946074e-01 9.73387985e-01 9.97624269e-03 2.01930179e+01] [ 1.61454022e-01 2.78643597e-02 9.86486785e-01 1.57137348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters Centerline goodness : 0.880887 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.19, Z:15.71 [[ 9.59257127e-01 2.30939677e-01 -1.62765565e-01 -1.27657035e+01] [-2.31765974e-01 9.72668524e-01 1.41589704e-02 2.01918375e+01] [ 1.61586810e-01 2.41414264e-02 9.86563173e-01 1.57135187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.234839173 meters Centerline goodness : 0.871004 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.19, Z:15.71 [[ 9.57674733e-01 2.38504165e-01 -1.61167210e-01 -1.27630316e+01] [-2.38205455e-01 9.70977637e-01 2.14613455e-02 2.01927461e+01] [ 1.61608377e-01 1.78379201e-02 9.86693742e-01 1.57125530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters Centerline goodness : 0.870574 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.19, Z:15.71 [[ 9.57980878e-01 2.37240929e-01 -1.61212218e-01 -1.27670519e+01] [-2.37266821e-01 9.71251289e-01 1.93749656e-02 2.01925584e+01] [ 1.61174109e-01 1.96894638e-02 9.86729563e-01 1.57141779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.294839173 meters Centerline goodness : 0.876429 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.72 [[ 9.58761324e-01 2.34163843e-01 -1.61071469e-01 -1.27795175e+01] [-2.34941753e-01 9.71901697e-01 1.44728900e-02 2.01865190e+01] [ 1.59934662e-01 2.39663662e-02 9.86836621e-01 1.57182568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.324839173 meters Centerline goodness : 0.878008 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.18, Z:15.72 [[ 9.58669871e-01 2.34185076e-01 -1.61584123e-01 -1.27789657e+01] [-2.34853381e-01 9.71911545e-01 1.52262377e-02 2.01840233e+01] [ 1.60611232e-01 2.33516423e-02 9.86741472e-01 1.57190257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.354839173 meters Centerline goodness : 0.873974 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.71 [[ 9.60325174e-01 2.30900089e-01 -1.56399201e-01 -1.27792748e+01] [-2.30095874e-01 9.72884662e-01 2.34802608e-02 2.01852760e+01] [ 1.57579978e-01 1.34381254e-02 9.87414790e-01 1.57119424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.384839173 meters Centerline goodness : 0.872153 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.71 [[ 9.60371338e-01 2.30770044e-01 -1.56307648e-01 -1.27782871e+01] [-2.29945982e-01 9.72917540e-01 2.35861348e-02 2.01855963e+01] [ 1.57517425e-01 1.32908677e-02 9.87426764e-01 1.57111813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.414839173 meters Centerline goodness : 0.872859 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.71 [[ 9.60462830e-01 2.30836361e-01 -1.55646159e-01 -1.27795537e+01] [-2.29915334e-01 9.72911068e-01 2.41452654e-02 2.01853268e+01] [ 1.57003476e-01 1.25948086e-02 9.87517736e-01 1.57118732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.444839173 meters Centerline goodness : 0.874536 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.71 [[ 9.61265499e-01 2.26912350e-01 -1.56459023e-01 -1.27798270e+01] [-2.26554664e-01 9.73785722e-01 2.03556410e-02 2.01861877e+01] [ 1.56976509e-01 1.58793460e-02 9.87474669e-01 1.57118844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.474839173 meters Centerline goodness : 0.878134 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.19, Z:15.71 [[ 9.62083419e-01 2.17761909e-01 -1.64241428e-01 -1.27805399e+01] [-2.16560479e-01 9.75938528e-01 2.54076653e-02 2.01850570e+01] [ 1.65822359e-01 1.11239089e-02 9.86092898e-01 1.57135288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50483917300001 meters Centerline goodness : 0.874280 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.19, Z:15.71 [[ 9.61698052e-01 2.13363127e-01 -1.72084377e-01 -1.27747300e+01] [-2.11132439e-01 9.76953588e-01 3.13812202e-02 2.01895263e+01] [ 1.74814045e-01 6.15333592e-03 9.84582239e-01 1.57054890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.534839173 meters Centerline goodness : 0.870967 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.19, Z:15.70 [[ 9.61212969e-01 2.15100102e-01 -1.72631327e-01 -1.27672194e+01] [-2.12640299e-01 9.76578477e-01 3.28417633e-02 2.01936401e+01] [ 1.75652305e-01 5.14044823e-03 9.84438847e-01 1.57016924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters Centerline goodness : 0.868651 Centerline is valid? [False, False] Translation: X:-12.77, Y:20.20, Z:15.70 [[ 9.61148114e-01 2.15466807e-01 -1.72535094e-01 -1.27666724e+01] [-2.13089359e-01 9.76495023e-01 3.24098069e-02 2.01991138e+01] [ 1.75462898e-01 5.61476782e-03 9.84470033e-01 1.57016995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.594839173 meters Centerline goodness : 0.874906 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.21, Z:15.71 [[ 9.63834715e-01 2.09885921e-01 -1.64227104e-01 -1.27869928e+01] [-2.09753046e-01 9.77582200e-01 1.83494259e-02 2.02080334e+01] [ 1.64396780e-01 1.67613217e-02 9.86251873e-01 1.57070455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters Centerline goodness : 0.876301 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.21, Z:15.71 [[ 9.64523048e-01 2.06461897e-01 -1.64525910e-01 -1.27959441e+01] [-2.06942823e-01 9.78247019e-01 1.44026738e-02 2.02071856e+01] [ 1.63920585e-01 2.01557454e-02 9.86267605e-01 1.57127440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.654839173 meters Centerline goodness : 0.879990 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.21, Z:15.72 [[ 9.65008397e-01 2.03696231e-01 -1.65126134e-01 -1.27990327e+01] [-2.04514876e-01 9.78787263e-01 1.22131100e-02 2.02050523e+01] [ 1.64111121e-01 2.19849971e-02 9.86196836e-01 1.57155168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.684839173 meters Centerline goodness : 0.879203 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.20, Z:15.71 [[ 9.64432113e-01 2.07593115e-01 -1.63633119e-01 -1.27969956e+01] [-2.07724385e-01 9.78048218e-01 1.65003845e-02 2.02030636e+01] [ 1.63466447e-01 1.80770883e-02 9.86383262e-01 1.57129055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.714839173 meters Centerline goodness : 0.872105 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.20, Z:15.71 [[ 9.64857053e-01 2.08918263e-01 -1.59386409e-01 -1.27995011e+01] [-2.08429975e-01 9.77833496e-01 1.99649638e-02 2.01997712e+01] [ 1.60024415e-01 1.39575690e-02 9.87014373e-01 1.57101857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.744839173 meters Centerline goodness : 0.873951 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.20, Z:15.71 [[ 9.64991485e-01 2.08063313e-01 -1.59690615e-01 -1.27977331e+01] [-2.07496685e-01 9.78022927e-01 2.04029278e-02 2.01971504e+01] [ 1.60426183e-01 1.34466217e-02 9.86956244e-01 1.57097345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.774839173 meters Centerline goodness : 0.873508 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.20, Z:15.71 [[ 9.66473582e-01 2.00286969e-01 -1.60667186e-01 -1.28003774e+01] [-2.00700456e-01 9.79555169e-01 1.38201657e-02 2.01961045e+01] [ 1.60150371e-01 1.88891524e-02 9.86911880e-01 1.57114112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.804839173 meters Centerline goodness : 0.880578 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.19, Z:15.71 [[ 9.67325483e-01 1.95862155e-01 -1.60995110e-01 -1.28079640e+01] [-1.97120739e-01 9.80344286e-01 8.27621111e-03 2.01947146e+01] [ 1.59451633e-01 2.37296852e-02 9.86920503e-01 1.57144890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.834839173 meters Centerline goodness : 0.888938 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.19, Z:15.72 [[ 9.68492693e-01 1.92880913e-01 -1.57540018e-01 -1.28105218e+01] [-1.96727627e-01 9.80416415e-01 -9.04948553e-03 2.01900736e+01] [ 1.52709346e-01 3.97568344e-02 9.87471139e-01 1.57158680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86483917300001 meters Centerline goodness : 0.891015 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.19, Z:15.72 [[ 9.67755170e-01 1.96949030e-01 -1.57038246e-01 -1.28090393e+01] [-2.00247559e-01 9.79730953e-01 -5.30793847e-03 2.01898848e+01] [ 1.52809837e-01 3.65833103e-02 9.87578258e-01 1.57152961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.894839173 meters Centerline goodness : 0.885702 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.19, Z:15.71 [[ 9.64980127e-01 2.08762496e-01 -1.58844497e-01 -1.28053750e+01] [-2.08459904e-01 9.77851091e-01 1.87539993e-02 2.01942588e+01] [ 1.59241396e-01 1.50154719e-02 9.87125480e-01 1.57129878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters Centerline goodness : 0.879182 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.20, Z:15.71 [[ 9.63623908e-01 2.15072014e-01 -1.58659990e-01 -1.27975472e+01] [-2.13925832e-01 9.76543266e-01 2.44742303e-02 2.01953729e+01] [ 1.60202066e-01 1.03575168e-02 9.87029898e-01 1.57085746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.954839173 meters Centerline goodness : 0.876455 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.20, Z:15.70 [[ 9.62842438e-01 2.18128995e-01 -1.59229965e-01 -1.27902797e+01] [-2.16948956e-01 9.75863463e-01 2.49730287e-02 2.01977695e+01] [ 1.60834047e-01 1.04996828e-02 9.86925613e-01 1.57010835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters Centerline goodness : 0.870535 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.20, Z:15.69 [[ 9.61872474e-01 2.21814513e-01 -1.59998952e-01 -1.27837982e+01] [-2.20633792e-01 9.75027603e-01 2.53358050e-02 2.01992668e+01] [ 1.61623244e-01 1.09313620e-02 9.86791990e-01 1.56935719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.014839173 meters Centerline goodness : 0.873262 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.20, Z:15.69 [[ 9.61727177e-01 2.22440897e-01 -1.60002760e-01 -1.27847823e+01] [-2.21198743e-01 9.74888387e-01 2.57633337e-02 2.01990937e+01] [ 1.61715652e-01 1.06151113e-02 9.86780303e-01 1.56947004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.044839173 meters Centerline goodness : 0.873262 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.20, Z:15.69 [[ 9.61727177e-01 2.22440897e-01 -1.60002760e-01 -1.27847823e+01] [-2.21198743e-01 9.74888387e-01 2.57633337e-02 2.01990937e+01] [ 1.61715652e-01 1.06151113e-02 9.86780303e-01 1.56947004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.074839173 meters Centerline goodness : 0.879921 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.20, Z:15.70 [[ 9.61744024e-01 2.22663067e-01 -1.59591950e-01 -1.27931706e+01] [-2.21630098e-01 9.74823645e-01 2.44736691e-02 2.01995596e+01] [ 1.61023389e-01 1.18329744e-02 9.86879653e-01 1.56999918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.104839173 meters Centerline goodness : 0.886807 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.20, Z:15.70 [[ 9.62286839e-01 2.25471366e-01 -1.52206116e-01 -1.28190987e+01] [-2.25555612e-01 9.74082977e-01 1.69416536e-02 2.01996461e+01] [ 1.52081245e-01 1.80282133e-02 9.88203561e-01 1.57015283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.134839173 meters Centerline goodness : 0.890326 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.20, Z:15.70 [[ 9.61822530e-01 2.28405259e-01 -1.50759606e-01 -1.28241482e+01] [-2.28217718e-01 9.73428972e-01 1.87805822e-02 2.01975874e+01] [ 1.51043352e-01 1.63424260e-02 9.88392043e-01 1.57029307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.164839173 meters Centerline goodness : 0.891053 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.20, Z:15.70 [[ 9.60844647e-01 2.33541910e-01 -1.49116535e-01 -1.28248481e+01] [-2.32691873e-01 9.72269663e-01 2.33708020e-02 2.01958345e+01] [ 1.50439545e-01 1.22424957e-02 9.88543406e-01 1.57021311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.194839173 meters Centerline goodness : 0.882765 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.19, Z:15.69 [[ 9.60957861e-01 2.39075677e-01 -1.39293967e-01 -1.28260234e+01] [-2.36583120e-01 9.71000928e-01 3.44329031e-02 2.01944642e+01] [ 1.43486641e-01 -1.33967572e-04 9.89652245e-01 1.56905656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.224839173 meters Centerline goodness : 0.878865 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.19, Z:15.69 [[ 9.61048437e-01 2.38905746e-01 -1.38960235e-01 -1.28234724e+01] [-2.36402995e-01 9.71042716e-01 3.44915638e-02 2.01933967e+01] [ 1.43176557e-01 -2.97447678e-04 9.89697118e-01 1.56875362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25483917300001 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.19, Z:15.69 [[ 9.62580545e-01 2.32406502e-01 -1.39376871e-01 -1.28266870e+01] [-2.30629925e-01 9.72609514e-01 2.89925885e-02 2.01859044e+01] [ 1.42297337e-01 4.23677570e-03 9.89814891e-01 1.56870098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters Centerline goodness : 0.888473 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.17, Z:15.69 [[ 9.65566816e-01 2.22322738e-01 -1.35104863e-01 -1.28274822e+01] [-2.22893172e-01 9.74779864e-01 1.10838199e-02 2.01743442e+01] [ 1.34161685e-01 1.94117827e-02 9.90769310e-01 1.56921919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.314839173 meters Centerline goodness : 0.889944 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.17, Z:15.70 [[ 9.66172111e-01 2.19894322e-01 -1.34751397e-01 -1.28327117e+01] [-2.20631172e-01 9.75309790e-01 9.62809175e-03 2.01692656e+01] [ 1.33541519e-01 2.04279649e-02 9.90832660e-01 1.56950877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.344839173 meters Centerline goodness : 0.892999 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.17, Z:15.69 [[ 9.66343041e-01 2.19717777e-01 -1.33810408e-01 -1.28320666e+01] [-2.20337747e-01 9.75368801e-01 1.03431176e-02 2.01670631e+01] [ 1.32787064e-01 1.94884841e-02 9.90952973e-01 1.56934078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.374839173 meters Centerline goodness : 0.890428 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.17, Z:15.69 [[ 9.65934140e-01 2.21711946e-01 -1.33473033e-01 -1.28265466e+01] [-2.21972557e-01 9.74964712e-01 1.31146516e-02 2.01664501e+01] [ 1.33039172e-01 1.69594607e-02 9.90965668e-01 1.56898205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.404839173 meters Centerline goodness : 0.887186 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.17, Z:15.68 [[ 9.65648486e-01 2.22781878e-01 -1.33758125e-01 -1.28182266e+01] [-2.22778675e-01 9.74750800e-01 1.51835477e-02 2.01660480e+01] [ 1.33763459e-01 1.51364880e-02 9.90897686e-01 1.56848462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.434839173 meters Centerline goodness : 0.875954 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.17, Z:15.67 [[ 9.65120732e-01 2.20576077e-01 -1.41025411e-01 -1.28130422e+01] [-2.19645943e-01 9.75324189e-01 2.23245593e-02 2.01652471e+01] [ 1.42469758e-01 9.42976430e-03 9.89754236e-01 1.56743109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.464839173 meters Centerline goodness : 0.875128 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.16, Z:15.67 [[ 9.65875420e-01 2.16317641e-01 -1.42447711e-01 -1.28107365e+01] [-2.16030585e-01 9.76226771e-01 1.76657120e-02 2.01648660e+01] [ 1.42882674e-01 1.37101855e-02 9.89644670e-01 1.56717368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.494839173 meters Centerline goodness : 0.882982 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.16, Z:15.68 [[ 9.67590759e-01 2.07658212e-01 -1.43687819e-01 -1.28202470e+01] [-2.08631417e-01 9.77958015e-01 8.42925845e-03 2.01578882e+01] [ 1.42271059e-01 2.18217207e-02 9.89587166e-01 1.56753196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.524839173 meters Centerline goodness : 0.890423 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.15, Z:15.68 [[ 9.69341295e-01 2.04011220e-01 -1.36955745e-01 -1.28242455e+01] [-2.06292387e-01 9.78487144e-01 -2.52179461e-03 2.01487333e+01] [ 1.33494962e-01 3.06974073e-02 9.90573957e-01 1.56844417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.554839173 meters Centerline goodness : 0.892727 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.14, Z:15.69 [[ 9.69231217e-01 2.05463750e-01 -1.35556245e-01 -1.28274980e+01] [-2.07456124e-01 9.78244149e-01 -5.84556655e-04 2.01448360e+01] [ 1.32486998e-01 2.86885436e-02 9.90769480e-01 1.56850704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.584839173 meters Centerline goodness : 0.888268 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.14, Z:15.68 [[ 9.69477695e-01 2.09011333e-01 -1.28168882e-01 -1.28221264e+01] [-2.08635944e-01 9.77854187e-01 1.64994234e-02 2.01435018e+01] [ 1.28779045e-01 1.07448128e-02 9.91615100e-01 1.56750911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61483917300001 meters Centerline goodness : 0.887888 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.14, Z:15.67 [[ 9.69056360e-01 2.11155006e-01 -1.27841055e-01 -1.28174838e+01] [-2.10343710e-01 9.77423517e-01 1.99697905e-02 2.01429225e+01] [ 1.29171575e-01 7.53870926e-03 9.91593602e-01 1.56731977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters Centerline goodness : 0.887742 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.14, Z:15.67 [[ 9.69873590e-01 2.07068252e-01 -1.28327542e-01 -1.28175649e+01] [-2.06677814e-01 9.78269932e-01 1.64991203e-02 2.01428172e+01] [ 1.28955420e-01 1.05203949e-02 9.91594585e-01 1.56729274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.674839173 meters Centerline goodness : 0.886955 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.14, Z:15.67 [[ 9.70952362e-01 2.00967452e-01 -1.29859898e-01 -1.28227046e+01] [-2.01437293e-01 9.79453936e-01 9.64382979e-03 2.01357847e+01] [ 1.29129884e-01 1.67949270e-02 9.91485453e-01 1.56747896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters Centerline goodness : 0.891581 Centerline is valid? [False, False] Translation: X:-12.84, Y:20.13, Z:15.68 [[ 9.71908463e-01 1.96835410e-01 -1.29033950e-01 -1.28401934e+01] [-1.98584952e-01 9.80083423e-01 -7.07358887e-04 2.01306705e+01] [ 1.26324802e-01 2.63116889e-02 9.91639924e-01 1.56758287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.734839173 meters Centerline goodness : 0.894536 Centerline is valid? [False, False] Translation: X:-12.84, Y:20.13, Z:15.68 [[ 9.71704667e-01 1.98454945e-01 -1.28084638e-01 -1.28445578e+01] [-1.99967768e-01 9.79801893e-01 1.06895388e-03 2.01289986e+01] [ 1.25709710e-01 2.45740917e-02 9.91762665e-01 1.56789266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters Centerline goodness : 0.899308 Centerline is valid? [False, False] Translation: X:-12.84, Y:20.13, Z:15.68 [[ 9.71020808e-01 2.02319962e-01 -1.27221160e-01 -1.28439437e+01] [-2.03302306e-01 9.79101384e-01 5.35277054e-03 2.01293041e+01] [ 1.25645386e-01 2.06667037e-02 9.91859932e-01 1.56795943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.794839173 meters Centerline goodness : 0.895003 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.13, Z:15.68 [[ 9.70096921e-01 2.06909139e-01 -1.26888031e-01 -1.28319288e+01] [-2.07061550e-01 9.78252668e-01 1.21338866e-02 2.01312275e+01] [ 1.26639167e-01 1.45025864e-02 9.91842828e-01 1.56750281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.824839173 meters Centerline goodness : 0.890901 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.13, Z:15.67 [[ 9.70176258e-01 2.06205449e-01 -1.27425828e-01 -1.28266493e+01] [-2.06438473e-01 9.78391760e-01 1.15204818e-02 2.01297486e+01] [ 1.27047966e-01 1.51286955e-02 9.91781194e-01 1.56704750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.854839173 meters Centerline goodness : 0.887966 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.12, Z:15.67 [[ 9.70910413e-01 2.01634481e-01 -1.29137546e-01 -1.28211090e+01] [-2.02277593e-01 9.79293443e-01 8.25401987e-03 2.01206099e+01] [ 1.28127847e-01 1.81077181e-02 9.91592338e-01 1.56656004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.884839173 meters Centerline goodness : 0.888969 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.67 [[ 9.71356966e-01 1.99899684e-01 -1.28474744e-01 -1.28269948e+01] [-2.00645491e-01 9.79637128e-01 7.24467128e-03 2.01143120e+01] [ 1.27306837e-01 1.87407162e-02 9.91686319e-01 1.56683565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.914839173 meters Centerline goodness : 0.890153 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.67 [[ 9.71314004e-01 2.00411639e-01 -1.28001095e-01 -1.28276982e+01] [-2.01083087e-01 9.79543219e-01 7.78933621e-03 2.01141072e+01] [ 1.26943678e-01 1.81729639e-02 9.91743438e-01 1.56684240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.944839173 meters Centerline goodness : 0.888011 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.67 [[ 9.70857116e-01 2.02621284e-01 -1.27988580e-01 -1.28227476e+01] [-2.02969869e-01 9.79129204e-01 1.04515182e-02 2.01148727e+01] [ 1.27435056e-01 1.58308944e-02 9.91720570e-01 1.56661230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.974839173 meters Centerline goodness : 0.887623 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.12, Z:15.67 [[ 9.70809556e-01 2.02808262e-01 -1.28053174e-01 -1.28224236e+01] [-2.03165607e-01 9.79089115e-01 1.04038743e-02 2.01152273e+01] [ 1.27485460e-01 1.59158202e-02 9.91712733e-01 1.56658391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00483917300001 meters Centerline goodness : 0.887122 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.67 [[ 9.71303271e-01 2.00472273e-01 -1.27987588e-01 -1.28278605e+01] [-2.01025467e-01 9.79547251e-01 8.71467445e-03 2.01111127e+01] [ 1.27116940e-01 1.72641727e-02 9.91737481e-01 1.56699719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.034839173 meters Centerline goodness : 0.888187 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.67 [[ 9.71951978e-01 1.97153128e-01 -1.28218548e-01 -1.28298639e+01] [-1.98074788e-01 9.80170622e-01 5.65068372e-03 2.01097300e+01] [ 1.26790104e-01 1.99046685e-02 9.91729839e-01 1.56707115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters Centerline goodness : 0.893036 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.67 [[ 9.71989548e-01 1.97117298e-01 -1.27988631e-01 -1.28285779e+01] [-1.97981982e-01 9.80186938e-01 6.05822234e-03 2.01069241e+01] [ 1.26646965e-01 1.94509141e-02 9.91757132e-01 1.56690924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.094839173 meters Centerline goodness : 0.882355 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.67 [[ 9.71470726e-01 1.99723230e-01 -1.27887682e-01 -1.28238358e+01] [-2.00181295e-01 9.79713839e-01 9.39374780e-03 2.01069709e+01] [ 1.27169481e-01 1.64749707e-02 9.91744170e-01 1.56669468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters Centerline goodness : 0.887005 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.66 [[ 9.70329446e-01 2.05859400e-01 -1.26817483e-01 -1.28174779e+01] [-2.05531456e-01 9.78522809e-01 1.58092877e-02 2.01121990e+01] [ 1.27348290e-01 1.07247646e-02 9.91800077e-01 1.56646735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.154839173 meters Centerline goodness : 0.885864 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.67 [[ 9.70147815e-01 2.06728246e-01 -1.26793727e-01 -1.28182787e+01] [-2.06423104e-01 9.78337072e-01 1.56867666e-02 2.01147915e+01] [ 1.27289901e-01 1.09546724e-02 9.91805060e-01 1.56652269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.184839173 meters Centerline goodness : 0.883422 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.66 [[ 9.70548462e-01 2.03461397e-01 -1.28992804e-01 -1.28176301e+01] [-2.03725115e-01 9.78963051e-01 1.12881728e-02 2.01123788e+01] [ 1.28575896e-01 1.53233550e-02 9.91581279e-01 1.56646961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.214839173 meters Centerline goodness : 0.882363 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.66 [[ 9.71233651e-01 1.99455343e-01 -1.30087516e-01 -1.28166483e+01] [-2.00236480e-01 9.79721275e-01 7.18159741e-03 2.01112598e+01] [ 1.28881915e-01 1.90732573e-02 9.91476506e-01 1.56632013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.244839173 meters Centerline goodness : 0.875072 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.11, Z:15.66 [[ 9.71301159e-01 1.98901427e-01 -1.30431133e-01 -1.28146530e+01] [-1.99669263e-01 9.79836176e-01 7.29754703e-03 2.01094534e+01] [ 1.29252635e-01 1.89549723e-02 9.91430515e-01 1.56621677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.274839173 meters Centerline goodness : 0.877520 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.65 [[ 9.72858950e-01 1.96985949e-01 -1.21416632e-01 -1.28159161e+01] [-1.96480296e-01 9.80373229e-01 1.62427215e-02 2.01124305e+01] [ 1.22233204e-01 8.05409880e-03 9.92468728e-01 1.56536607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.304839173 meters Centerline goodness : 0.877115 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.65 [[ 9.73019738e-01 1.96497999e-01 -1.20917852e-01 -1.28156834e+01] [-1.95874226e-01 9.80479198e-01 1.71414889e-02 2.01109438e+01] [ 1.21925707e-01 7.00568361e-03 9.92514505e-01 1.56542986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.334839173 meters Centerline goodness : 0.878910 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.66 [[ 9.73565368e-01 1.93808002e-01 -1.20867420e-01 -1.28192233e+01] [-1.93509700e-01 9.80993933e-01 1.43142971e-02 2.01107436e+01] [ 1.21344431e-01 9.45311413e-03 9.92565448e-01 1.56560717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36483917300001 meters Centerline goodness : 0.883001 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.66 [[ 9.74465906e-01 1.88770582e-01 -1.21580693e-01 -1.28264649e+01] [-1.89232879e-01 9.81900949e-01 7.83861565e-03 2.01082088e+01] [ 1.20859898e-01 1.53686009e-02 9.92550599e-01 1.56588247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.394839173 meters Centerline goodness : 0.871474 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.66 [[ 9.74945411e-01 1.85706295e-01 -1.22452514e-01 -1.28274560e+01] [-1.86593472e-01 9.82427872e-01 4.28403719e-03 2.01078598e+01] [ 1.21096336e-01 1.86721374e-02 9.92465127e-01 1.56590726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters Centerline goodness : 0.880737 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.11, Z:15.66 [[ 9.74170516e-01 1.90183356e-01 -1.21746033e-01 -1.28260731e+01] [-1.90622426e-01 9.81629690e-01 8.13892237e-03 2.01067654e+01] [ 1.21057408e-01 1.52788260e-02 9.92527915e-01 1.56574605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.454839173 meters Centerline goodness : 0.874971 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.66 [[ 9.74317558e-01 1.89397974e-01 -1.21793697e-01 -1.28237118e+01] [-1.89894627e-01 9.81774878e-01 7.62357557e-03 2.01088313e+01] [ 1.21017882e-01 1.57001851e-02 9.92526159e-01 1.56558932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters Centerline goodness : 0.879220 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.12, Z:15.65 [[ 9.75429745e-01 1.88768117e-01 -1.13593185e-01 -1.28258152e+01] [-1.88473895e-01 9.81986471e-01 1.34224031e-02 2.01157926e+01] [ 1.14080693e-01 8.31673871e-03 9.93436675e-01 1.56483880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.514839173 meters Centerline goodness : 0.878263 Centerline is valid? [False, False] Translation: X:-12.83, Y:20.12, Z:15.65 [[ 9.75438008e-01 1.88544981e-01 -1.13892414e-01 -1.28251305e+01] [-1.88240989e-01 9.82029859e-01 1.35161463e-02 2.01157273e+01] [ 1.14394153e-01 8.25505780e-03 9.93401143e-01 1.56487177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.544839173 meters Centerline goodness : 0.879963 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.65 [[ 9.76746785e-01 1.83174248e-01 -1.11413250e-01 -1.28160373e+01] [-1.84355315e-01 9.82859616e-01 -3.04190494e-04 2.01097649e+01] [ 1.09447864e-01 2.08367419e-02 9.93774117e-01 1.56513082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.574839173 meters Centerline goodness : 0.876687 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.65 [[ 9.77247951e-01 1.80305420e-01 -1.11697799e-01 -1.28193267e+01] [-1.81715318e-01 9.83348032e-01 -2.48834310e-03 2.01050790e+01] [ 1.09389149e-01 2.27289292e-02 9.93739106e-01 1.56534778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.604839173 meters Centerline goodness : 0.784033 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.10, Z:15.65 [[ 9.77324971e-01 1.80153453e-01 -1.11268301e-01 -1.28182997e+01] [-1.81478958e-01 9.83393148e-01 -1.81764522e-03 2.01016989e+01] [ 1.09093030e-01 2.19692855e-02 9.93788741e-01 1.56520882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.634839173 meters Centerline goodness : 0.879093 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.10, Z:15.65 [[ 9.76419696e-01 1.85378708e-01 -1.10631427e-01 -1.28109089e+01] [-1.86039443e-01 9.82532375e-01 4.41109146e-03 2.01030975e+01] [ 1.09516681e-01 1.62747326e-02 9.93851714e-01 1.56484504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.664839173 meters Centerline goodness : 0.875562 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.64 [[ 9.75893164e-01 1.90672922e-01 -1.06190246e-01 -1.28006344e+01] [-1.90410395e-01 9.81622428e-01 1.26999807e-02 2.01114505e+01] [ 1.06660269e-01 7.82590229e-03 9.94264724e-01 1.56400104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.694839173 meters Centerline goodness : 0.875284 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.64 [[ 9.75205898e-01 1.93982497e-01 -1.06509372e-01 -1.27968638e+01] [-1.93480346e-01 9.80987518e-01 1.51276266e-02 2.01147920e+01] [ 1.07418860e-01 5.85491949e-03 9.94196615e-01 1.56382552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.724839173 meters Centerline goodness : 0.873626 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.12, Z:15.64 [[ 9.75373827e-01 1.92565609e-01 -1.07537824e-01 -1.28071096e+01] [-1.93033967e-01 9.81172887e-01 6.13622386e-03 2.01167195e+01] [ 1.06694823e-01 1.47733406e-02 9.94182057e-01 1.56375299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75483917300001 meters Centerline goodness : 0.846595 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.64 [[ 9.75456858e-01 1.92251156e-01 -1.07347149e-01 -1.28153419e+01] [-1.92962473e-01 9.81198703e-01 3.81954481e-03 2.01130838e+01] [ 1.06063195e-01 1.69881702e-02 9.94214263e-01 1.56407264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters Centerline goodness : 0.877699 Centerline is valid? [False, False] Translation: X:-12.82, Y:20.11, Z:15.64 [[ 9.75981301e-01 1.89548839e-01 -1.07385933e-01 -1.28181689e+01] [-1.90529549e-01 9.81680791e-01 1.14704557e-03 2.01111447e+01] [ 1.05636129e-01 1.93406984e-02 9.94216750e-01 1.56419059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.814839173 meters Centerline goodness : 0.874263 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.11, Z:15.64 [[ 9.75591948e-01 1.91782077e-01 -1.06957868e-01 -1.28132895e+01] [-1.92408568e-01 9.81304456e-01 4.52848782e-03 2.01127248e+01] [ 1.05826715e-01 1.61616540e-02 9.94253241e-01 1.56397769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters Centerline goodness : 0.872747 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.12, Z:15.63 [[ 9.78087420e-01 1.84831337e-01 -9.58247144e-02 -1.28100350e+01] [-1.82877011e-01 9.82711885e-01 2.88677983e-02 2.01153783e+01] [ 9.95037595e-02 -1.07110930e-02 9.94979535e-01 1.56347509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.874839173 meters Centerline goodness : 0.867347 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.12, Z:15.63 [[ 9.78663217e-01 1.80814747e-01 -9.75926991e-02 -1.28005281e+01] [-1.78973109e-01 9.83472931e-01 2.73792069e-02 2.01156028e+01] [ 1.00930342e-01 -9.32855397e-03 9.94849760e-01 1.56312846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.904839173 meters Centerline goodness : 0.813478 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.63 [[ 9.79849936e-01 1.73518579e-01 -9.89212135e-02 -1.28028610e+01] [-1.72386271e-01 9.84827442e-01 1.99470009e-02 2.01140377e+01] [ 1.00881501e-01 -2.49240835e-03 9.94895326e-01 1.56324153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.934839173 meters Centerline goodness : 0.875395 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.64 [[ 9.82184118e-01 1.61975738e-01 -9.52796840e-02 -1.28040563e+01] [-1.62859515e-01 9.86648095e-01 -1.52158553e-03 2.01056489e+01] [ 9.37610587e-02 1.70116803e-02 9.95449379e-01 1.56386774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.964839173 meters Centerline goodness : 0.875395 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.64 [[ 9.82184118e-01 1.61975738e-01 -9.52796840e-02 -1.28040563e+01] [-1.62859515e-01 9.86648095e-01 -1.52158553e-03 2.01056489e+01] [ 9.37610587e-02 1.70116803e-02 9.95449379e-01 1.56386774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.994839173 meters Centerline goodness : 0.878429 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.10, Z:15.64 [[ 9.82599511e-01 1.59540484e-01 -9.51053883e-02 -1.28091553e+01] [-1.60503150e-01 9.87032136e-01 -2.51017964e-03 2.01004007e+01] [ 9.34715993e-02 1.77312157e-02 9.95464045e-01 1.56438322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.024839173 meters Centerline goodness : 0.880463 Centerline is valid? [False, False] Translation: X:-12.81, Y:20.10, Z:15.65 [[ 9.82653953e-01 1.59604924e-01 -9.44323971e-02 -1.28100424e+01] [-1.60456375e-01 9.87041877e-01 -1.44386781e-03 2.00992207e+01] [ 9.29782821e-02 1.65711026e-02 9.95530229e-01 1.56451128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.054839173 meters Centerline goodness : 0.876194 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.10, Z:15.64 [[ 9.82291058e-01 1.61549587e-01 -9.48999943e-02 -1.28027575e+01] [-1.62168440e-01 9.86762354e-01 1.20592883e-03 2.01006435e+01] [ 9.38385591e-02 1.42052109e-02 9.95486081e-01 1.56411266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.084839173 meters Centerline goodness : 0.869189 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.10, Z:15.63 [[ 9.81368690e-01 1.63150443e-01 -1.01476238e-01 -1.27947354e+01] [-1.62537666e-01 9.86598218e-01 1.43339969e-02 2.01020486e+01] [ 1.02454874e-01 2.42677514e-03 9.94734693e-01 1.56318043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11483917300001 meters Centerline goodness : 0.865050 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.10, Z:15.63 [[ 9.80817140e-01 1.66021003e-01 -1.02150699e-01 -1.27895301e+01] [-1.65101847e-01 9.86122186e-01 1.74474861e-02 2.01005970e+01] [ 1.03629720e-01 -2.47524323e-04 9.94615916e-01 1.56293985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.144839173 meters Centerline goodness : 0.864968 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.10, Z:15.63 [[ 9.80330020e-01 1.68894215e-01 -1.02116583e-01 -1.27932077e+01] [-1.67961516e-01 9.85634158e-01 1.77267151e-02 2.01003505e+01] [ 1.03643532e-01 -2.26374951e-04 9.94614482e-01 1.56303415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.174839173 meters Centerline goodness : 0.862123 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.10, Z:15.63 [[ 9.80574627e-01 1.67310701e-01 -1.02374464e-01 -1.27970898e+01] [-1.66704761e-01 9.85900126e-01 1.45073527e-02 2.01021705e+01] [ 1.03358232e-01 2.84076862e-03 9.94640139e-01 1.56320719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.204839173 meters Centerline goodness : 0.844368 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.11, Z:15.63 [[ 9.80296815e-01 1.68988298e-01 -1.02279567e-01 -1.27986797e+01] [-1.68470421e-01 9.85610892e-01 1.37436035e-02 2.01066119e+01] [ 1.03130363e-01 3.75827088e-03 9.94660748e-01 1.56320704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.234839173 meters Centerline goodness : 0.845760 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.11, Z:15.63 [[ 9.79745645e-01 1.71962876e-01 -1.02602336e-01 -1.27946995e+01] [-1.71154328e-01 9.85102700e-01 1.66992921e-02 2.01076354e+01] [ 1.03945497e-01 1.19977509e-03 9.94582271e-01 1.56304691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.264839173 meters Centerline goodness : 0.833790 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.11, Z:15.63 [[ 9.79810705e-01 1.71391881e-01 -1.02935930e-01 -1.27938420e+01] [-1.70516327e-01 9.85202758e-01 1.73120435e-02 2.01058334e+01] [ 1.04379906e-01 5.89731205e-04 9.94537323e-01 1.56317239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.294839173 meters Centerline goodness : 0.877779 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.10, Z:15.64 [[ 9.82568698e-01 1.61855989e-01 -9.14406478e-02 -1.27949137e+01] [-1.61245475e-01 9.86813965e-01 1.40746385e-02 2.00981449e+01] [ 9.25129728e-02 9.15091418e-04 9.95711059e-01 1.56350151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.324839173 meters Centerline goodness : 0.883238 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.09, Z:15.64 [[ 9.82753240e-01 1.61070172e-01 -9.08430977e-02 -1.27948857e+01] [-1.60144733e-01 9.86939570e-01 1.74341389e-02 2.00923886e+01] [ 9.24647676e-02 -2.58541293e-03 9.95712600e-01 1.56396600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.354839173 meters Centerline goodness : 0.878461 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.09, Z:15.63 [[ 9.84470986e-01 1.55238133e-01 -8.19634058e-02 -1.27988844e+01] [-1.53844728e-01 9.87825231e-01 2.30892501e-02 2.00919543e+01] [ 8.45498523e-02 -1.01210590e-02 9.96367847e-01 1.56315697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.384839173 meters Centerline goodness : 0.878243 Centerline is valid? [False, False] Translation: X:-12.80, Y:20.09, Z:15.63 [[ 9.84581522e-01 1.54251664e-01 -8.24963711e-02 -1.27956117e+01] [-1.52881825e-01 9.87983507e-01 2.27098528e-02 2.00900720e+01] [ 8.50080867e-02 -9.74750567e-03 9.96332581e-01 1.56293610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.414839173 meters Centerline goodness : 0.881034 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.08, Z:15.63 [[ 9.85461593e-01 1.50001325e-01 -7.97812648e-02 -1.27865331e+01] [-1.49986328e-01 9.88668538e-01 6.21480552e-03 2.00849032e+01] [ 7.98094554e-02 5.84164679e-03 9.96793021e-01 1.56258130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.444839173 meters Centerline goodness : 0.885718 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.08, Z:15.63 [[ 9.85863667e-01 1.47165549e-01 -8.00945171e-02 -1.27897604e+01] [-1.47354144e-01 9.89077305e-01 3.58336604e-03 2.00807604e+01] [ 7.97470172e-02 8.26954865e-03 9.96780832e-01 1.56281487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.474839173 meters Centerline goodness : 0.889365 Centerline is valid? [False, False] Translation: X:-12.79, Y:20.08, Z:15.63 [[ 9.86304125e-01 1.43835408e-01 -8.07189487e-02 -1.27901751e+01] [-1.44283274e-01 9.89536384e-01 2.87180994e-04 2.00790836e+01] [ 7.99156434e-02 1.13631464e-02 9.96736860e-01 1.56282037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50483917300001 meters Centerline goodness : 0.886856 Centerline is valid? [False, False] Translation: X:-12.78, Y:20.08, Z:15.63 [[ 9.86979701e-01 1.38857932e-01 -8.11760046e-02 -1.27802713e+01] [-1.38058855e-01 9.90304254e-01 1.54024892e-02 2.00767548e+01] [ 8.25277005e-02 -3.99487792e-03 9.96580764e-01 1.56254034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.534839173 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.08, Z:15.62 [[ 9.87159732e-01 1.34535666e-01 -8.61151419e-02 -1.27643411e+01] [-1.32420644e-01 9.90744191e-01 2.98449436e-02 2.00768910e+01] [ 8.93332859e-02 -1.80583040e-02 9.95838070e-01 1.56182576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.564839173 meters Centerline goodness : 0.871530 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.08, Z:15.61 [[ 9.87269191e-01 1.32936645e-01 -8.73349492e-02 -1.27588320e+01] [-1.30919923e-01 9.90984557e-01 2.84531609e-02 2.00765221e+01] [ 9.03300536e-02 -1.66570443e-02 9.95772577e-01 1.56146727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.594839173 meters Centerline goodness : 0.875309 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.08, Z:15.61 [[ 9.87686965e-01 1.29131712e-01 -8.83145570e-02 -1.27582242e+01] [-1.27487518e-01 9.91548913e-01 2.40350928e-02 2.00759666e+01] [ 9.06718957e-02 -1.24801442e-02 9.95802618e-01 1.56136029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.624839173 meters Centerline goodness : 0.879687 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.08, Z:15.61 [[ 9.88005250e-01 1.29137027e-01 -8.46714497e-02 -1.27553971e+01] [-1.28953315e-01 9.91621093e-01 7.65839422e-03 2.00768999e+01] [ 8.49509778e-02 3.35213045e-03 9.96379493e-01 1.56109613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.654839173 meters Centerline goodness : 0.883781 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.08, Z:15.61 [[ 9.87755219e-01 1.34244954e-01 -7.94853368e-02 -1.27492998e+01] [-1.34646317e-01 9.90893673e-01 3.12936607e-04 2.00789907e+01] [ 7.88035275e-02 1.03933031e-02 9.96835986e-01 1.56128720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.684839173 meters Centerline goodness : 0.884310 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.08, Z:15.61 [[ 9.87600404e-01 1.35509522e-01 -7.92629212e-02 -1.27515910e+01] [-1.35866862e-01 9.90726703e-01 8.92401307e-04 2.00812853e+01] [ 7.86488215e-02 9.88786851e-03 9.96853346e-01 1.56149886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.714839173 meters Centerline goodness : 0.882727 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.09, Z:15.61 [[ 9.86657627e-01 1.42379493e-01 -7.89607990e-02 -1.27474436e+01] [-1.42211001e-01 9.89805774e-01 7.78202538e-03 2.00873439e+01] [ 7.92638556e-02 3.55089959e-03 9.96847347e-01 1.56146016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.744839173 meters Centerline goodness : 0.880511 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.09, Z:15.61 [[ 9.86272075e-01 1.44954386e-01 -7.90924762e-02 -1.27418129e+01] [-1.44603034e-01 9.89437356e-01 1.01823890e-02 2.00924490e+01] [ 7.97330325e-02 1.39440612e-03 9.96815278e-01 1.56111056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.774839173 meters Centerline goodness : 0.876758 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.10, Z:15.61 [[ 9.85300475e-01 1.51891986e-01 -7.81779899e-02 -1.27378792e+01] [-1.51032836e-01 9.88385601e-01 1.68222117e-02 2.00999251e+01] [ 7.98251587e-02 -4.76748959e-03 9.96797479e-01 1.56098658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.804839173 meters Centerline goodness : 0.878324 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.10, Z:15.61 [[ 9.85149250e-01 1.53442570e-01 -7.70476062e-02 -1.27424726e+01] [-1.52528911e-01 9.88141543e-01 1.76415066e-02 2.01017596e+01] [ 7.88408986e-02 -5.62752959e-03 9.96871328e-01 1.56130680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.834839173 meters Centerline goodness : 0.886416 Centerline is valid? [False, False] Translation: X:-12.75, Y:20.10, Z:15.62 [[ 9.85694823e-01 1.53376001e-01 -6.98678577e-02 -1.27509551e+01] [-1.53360876e-01 9.88154310e-01 5.61252350e-03 2.01006215e+01] [ 6.99010512e-02 5.18276050e-03 9.97540466e-01 1.56242742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86483917300001 meters Centerline goodness : 0.890110 Centerline is valid? [False, False] Translation: X:-12.76, Y:20.10, Z:15.63 [[ 9.86038620e-01 1.51017864e-01 -7.01530098e-02 -1.27550718e+01] [-1.51174687e-01 9.88502205e-01 3.09911339e-03 2.00984119e+01] [ 6.98144264e-02 7.54951378e-03 9.97531428e-01 1.56276146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.894839173 meters Centerline goodness : 0.887812 Centerline is valid? [False, False] Translation: X:-12.74, Y:20.10, Z:15.62 [[ 9.85866934e-01 1.51181160e-01 -7.21848040e-02 -1.27445903e+01] [-1.51426600e-01 9.88466291e-01 2.09188631e-03 2.00991413e+01] [ 7.16684993e-02 8.86837788e-03 9.97389081e-01 1.56183407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters Centerline goodness : 0.882239 Centerline is valid? [False, False] Translation: X:-12.73, Y:20.10, Z:15.61 [[ 9.85580681e-01 1.52767642e-01 -7.27514171e-02 -1.27312508e+01] [-1.52732825e-01 9.88248848e-01 6.07443846e-03 2.01013995e+01] [ 7.28244818e-02 5.12468030e-03 9.97331606e-01 1.56114598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.954839173 meters Centerline goodness : 0.875175 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.11, Z:15.61 [[ 9.85204913e-01 1.52379560e-01 -7.84330845e-02 -1.27218771e+01] [-1.51223228e-01 9.88286792e-01 2.05122596e-02 2.01054153e+01] [ 8.06400305e-02 -8.34787473e-03 9.96708332e-01 1.56054674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters Centerline goodness : 0.867506 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.11, Z:15.60 [[ 9.85181557e-01 1.52151937e-01 -7.91649464e-02 -1.27198146e+01] [-1.51050131e-01 9.88328588e-01 1.97600799e-02 2.01059986e+01] [ 8.12475141e-02 -7.50939069e-03 9.96665666e-01 1.56041547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.014839173 meters Centerline goodness : 0.871332 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.11, Z:15.61 [[ 9.84867828e-01 1.53513479e-01 -8.04299205e-02 -1.27201007e+01] [-1.52461359e-01 9.88124856e-01 1.90998176e-02 2.01079211e+01] [ 8.24068831e-02 -6.54834085e-03 9.96577255e-01 1.56053608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.044839173 meters Centerline goodness : 0.873717 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.11, Z:15.61 [[ 9.84477273e-01 1.55638590e-01 -8.11241512e-02 -1.27213566e+01] [-1.54614546e-01 9.87796088e-01 1.87944470e-02 2.01134501e+01] [ 8.30592605e-02 -5.95973217e-03 9.96526789e-01 1.56070696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.074839173 meters Centerline goodness : 0.873899 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.12, Z:15.61 [[ 9.84402272e-01 1.56177615e-01 -8.09982732e-02 -1.27215967e+01] [-1.55169301e-01 9.87712092e-01 1.86362817e-02 2.01163274e+01] [ 8.29135439e-02 -5.77715263e-03 9.96539999e-01 1.56070105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.104839173 meters Centerline goodness : 0.873889 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.12, Z:15.61 [[ 9.84451675e-01 1.55885394e-01 -8.09607563e-02 -1.27196896e+01] [-1.54910763e-01 9.87760405e-01 1.82219176e-02 2.01198746e+01] [ 8.28103602e-02 -5.39690479e-03 9.96550710e-01 1.56054734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.134839173 meters Centerline goodness : 0.868114 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.13, Z:15.60 [[ 9.85081068e-01 1.56402675e-01 -7.17878350e-02 -1.27211280e+01] [-1.54730931e-01 9.87550656e-01 2.83203133e-02 2.01282473e+01] [ 7.53234963e-02 -1.67900059e-02 9.97017787e-01 1.55964656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.164839173 meters Centerline goodness : 0.867171 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.13, Z:15.59 [[ 9.85105020e-01 1.56454409e-01 -7.13450650e-02 -1.27189083e+01] [-1.54783902e-01 9.87539915e-01 2.84052677e-02 2.01325352e+01] [ 7.49002289e-02 -1.69391043e-02 9.97047152e-01 1.55944169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.194839173 meters Centerline goodness : 0.875807 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.13, Z:15.59 [[ 9.85404621e-01 1.56999983e-01 -6.57931489e-02 -1.27140581e+01] [-1.56230392e-01 9.87579190e-01 1.67155092e-02 2.01328516e+01] [ 6.76002794e-02 -6.19265054e-03 9.97693266e-01 1.55949801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.224839173 meters Centerline goodness : 0.880523 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.13, Z:15.60 [[ 9.86079277e-01 1.54695140e-01 -6.09678018e-02 -1.27091261e+01] [-1.54853463e-01 9.87935114e-01 2.14819003e-03 2.01315574e+01] [ 6.05645468e-02 7.32278955e-03 9.98137422e-01 1.55950256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25483917300001 meters Centerline goodness : 0.884293 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.13, Z:15.60 [[ 9.86432827e-01 1.52551316e-01 -6.06496032e-02 -1.27147629e+01] [-1.52825610e-01 9.88253165e-01 1.17437390e-04 2.01274953e+01] [ 5.99550775e-02 9.15296853e-03 9.98159111e-01 1.55990473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters Centerline goodness : 0.887751 Centerline is valid? [False, False] Translation: X:-12.72, Y:20.13, Z:15.60 [[ 9.86929970e-01 1.49067809e-01 -6.12211033e-02 -1.27153867e+01] [-1.49535491e-01 9.88751486e-01 -3.10416608e-03 2.01250558e+01] [ 6.00697257e-02 1.22183223e-02 9.98119402e-01 1.55994391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.314839173 meters Centerline goodness : 0.883131 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.12, Z:15.59 [[ 9.87114813e-01 1.47687499e-01 -6.15852969e-02 -1.27100305e+01] [-1.48173675e-01 9.88955585e-01 -3.37827891e-03 2.01196528e+01] [ 6.04061938e-02 1.24600689e-02 9.98096107e-01 1.55940642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters Centerline goodness : 0.880911 Centerline is valid? [False, False] Translation: X:-12.71, Y:20.12, Z:15.59 [[ 9.87191452e-01 1.46939082e-01 -6.21445355e-02 -1.27056581e+01] [-1.47416978e-01 9.89069413e-01 -3.15118090e-03 2.01163063e+01] [ 6.10022277e-02 1.22719785e-02 9.98062186e-01 1.55906094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.374839173 meters Centerline goodness : 0.877592 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.11, Z:15.59 [[ 9.88633024e-01 1.35609720e-01 -6.49210825e-02 -1.26948193e+01] [-1.35382151e-01 9.90761863e-01 7.91227888e-03 2.01062974e+01] [ 6.53943146e-02 9.66815584e-04 9.97859033e-01 1.55891366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.404839173 meters Centerline goodness : 0.876446 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.10, Z:15.59 [[ 9.89262334e-01 1.30495653e-01 -6.58097113e-02 -1.26922914e+01] [-1.30473731e-01 9.91440865e-01 4.64939520e-03 2.01009923e+01] [ 6.58531630e-02 3.98696703e-03 9.97821359e-01 1.55878367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.434839173 meters Centerline goodness : 0.882053 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.09, Z:15.59 [[ 9.90589700e-01 1.19885409e-01 -6.60267722e-02 -1.26969318e+01] [-1.20282073e-01 9.92737637e-01 -2.05106522e-03 2.00877846e+01] [ 6.53013690e-02 9.97360111e-03 9.97815744e-01 1.55932385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.464839173 meters Centerline goodness : 0.888727 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.08, Z:15.60 [[ 9.91103933e-01 1.15533235e-01 -6.60686372e-02 -1.26982947e+01] [-1.15778898e-01 9.93275004e-01 1.11304039e-04 2.00763639e+01] [ 6.56371852e-02 7.53904013e-03 9.97815074e-01 1.56030025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.494839173 meters Centerline goodness : 0.889331 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.07, Z:15.60 [[ 9.91138675e-01 1.15201666e-01 -6.61264240e-02 -1.26974117e+01] [-1.15403629e-01 9.93318383e-01 7.70241382e-04 2.00746538e+01] [ 6.57733257e-02 6.86781326e-03 9.97810955e-01 1.56032819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.524839173 meters Centerline goodness : 0.886815 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.07, Z:15.60 [[ 9.91010859e-01 1.16384749e-01 -6.59702044e-02 -1.26923380e+01] [-1.16400996e-01 9.93195737e-01 3.61050553e-03 2.00740610e+01] [ 6.59415336e-02 4.10094732e-03 9.97815061e-01 1.56006318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.554839173 meters Centerline goodness : 0.883387 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.08, Z:15.60 [[ 9.91023738e-01 1.16135637e-01 -6.62152828e-02 -1.26903778e+01] [-1.16204572e-01 9.93221290e-01 2.82257652e-03 2.00766408e+01] [ 6.60942303e-02 4.89727827e-03 9.97801368e-01 1.55986909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.584839173 meters Centerline goodness : 0.882206 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.08, Z:15.60 [[ 9.90610712e-01 1.19403552e-01 -6.65823510e-02 -1.26876633e+01] [-1.19238267e-01 9.92844619e-01 6.46522043e-03 2.00768812e+01] [ 6.68778992e-02 1.53464752e-03 9.97759987e-01 1.55984972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61483917300001 meters Centerline goodness : 0.882993 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.08, Z:15.60 [[ 9.90363988e-01 1.21702979e-01 -6.60874807e-02 -1.26921219e+01] [-1.21514629e-01 9.92565815e-01 6.87731915e-03 2.00795579e+01] [ 6.64331644e-02 1.21954645e-03 9.97790132e-01 1.56013607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters Centerline goodness : 0.887612 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.08, Z:15.60 [[ 9.90556344e-01 1.22700048e-01 -6.11786476e-02 -1.26833323e+01] [-1.23185300e-01 9.92374757e-01 -4.20981375e-03 2.00814496e+01] [ 6.01956012e-02 1.17063678e-02 9.98117954e-01 1.55995747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.674839173 meters Centerline goodness : 0.891200 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.08, Z:15.60 [[ 9.90442341e-01 1.23533307e-01 -6.13472943e-02 -1.26855162e+01] [-1.23942314e-01 9.92285209e-01 -2.89241843e-03 2.00794056e+01] [ 6.05167028e-02 1.04682993e-02 9.98112290e-01 1.56032696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters Centerline goodness : 0.886653 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.08, Z:15.59 [[ 9.91269708e-01 1.20522335e-01 -5.34671261e-02 -1.26850267e+01] [-1.20366978e-01 9.92710550e-01 6.12814749e-03 2.00829090e+01] [ 5.38159589e-02 3.61029411e-04 9.98550806e-01 1.55934376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.734839173 meters Centerline goodness : 0.882853 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.09, Z:15.59 [[ 9.91798656e-01 1.20403559e-01 -4.28766608e-02 -1.26909269e+01] [-1.19759562e-01 9.92652293e-01 1.72937078e-02 2.00907213e+01] [ 4.46438396e-02 -1.20169860e-02 9.98930688e-01 1.55885085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.764839173 meters Centerline goodness : 0.887326 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.09, Z:15.59 [[ 9.91743970e-01 1.20835566e-01 -4.29262539e-02 -1.26918595e+01] [-1.20194615e-01 9.92600979e-01 1.72206306e-02 2.00930757e+01] [ 4.46895064e-02 -1.19189520e-02 9.98929821e-01 1.55898751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.794839173 meters Centerline goodness : 0.883033 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.10, Z:15.59 [[ 9.91966040e-01 1.18753933e-01 -4.35990723e-02 -1.26940912e+01] [-1.18292907e-01 9.92893444e-01 1.30152998e-02 2.00952967e+01] [ 4.48348511e-02 -7.75327441e-03 9.98964325e-01 1.55905603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.824839173 meters Centerline goodness : 0.886887 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.10, Z:15.59 [[ 9.91984891e-01 1.18122881e-01 -4.48660249e-02 -1.26980826e+01] [-1.17934948e-01 9.92997888e-01 6.82218701e-03 2.00959927e+01] [ 4.53577244e-02 -1.47623410e-03 9.98969718e-01 1.55888045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.854839173 meters Centerline goodness : 0.886887 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.10, Z:15.59 [[ 9.91984891e-01 1.18122881e-01 -4.48660249e-02 -1.26980826e+01] [-1.17934948e-01 9.92997888e-01 6.82218701e-03 2.00959927e+01] [ 4.53577244e-02 -1.47623410e-03 9.98969718e-01 1.55888045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.884839173 meters Centerline goodness : 0.888981 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.10, Z:15.59 [[ 9.91857321e-01 1.19054200e-01 -4.52233619e-02 -1.26991208e+01] [-1.18866208e-01 9.92886767e-01 6.83321678e-03 2.00956765e+01] [ 4.57152007e-02 -1.40204657e-03 9.98953530e-01 1.55897532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.914839173 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.10, Z:15.59 [[ 9.91753100e-01 1.20009193e-01 -4.49842555e-02 -1.27007621e+01] [-1.19836814e-01 9.92772199e-01 6.51912643e-03 2.00974227e+01] [ 4.54414734e-02 -1.07459397e-03 9.98966425e-01 1.55901053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.944839173 meters Centerline goodness : 0.888067 Centerline is valid? [False, False] Translation: X:-12.70, Y:20.10, Z:15.59 [[ 9.91811476e-01 1.19446117e-01 -4.51953632e-02 -1.26985067e+01] [-1.19293541e-01 9.92840487e-01 6.06783650e-03 2.00979601e+01] [ 4.55965659e-02 -6.26634940e-04 9.98959739e-01 1.55880556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.974839173 meters Centerline goodness : 0.881785 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.10, Z:15.58 [[ 9.92435785e-01 1.13248183e-01 -4.73926419e-02 -1.26854084e+01] [-1.12352874e-01 9.93443141e-01 2.11555654e-02 2.00954010e+01] [ 4.94777244e-02 -1.56708406e-02 9.98652282e-01 1.55834063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00483917300001 meters Centerline goodness : 0.881416 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.10, Z:15.58 [[ 0.99338591 0.1077214 -0.03975597 -12.68588005] [ -0.10668903 0.99391921 0.02724082 20.09822049] [ 0.04244864 -0.02281912 0.99883803 15.5762538 ] [ 0. 0. 0. 1. ]] SLAMing on 83.034839173 meters Centerline goodness : 0.881790 Centerline is valid? [False, False] Translation: X:-12.69, Y:20.10, Z:15.58 [[ 9.93719174e-01 1.04773599e-01 -3.93026267e-02 -1.26892605e+01] [-1.03888813e-01 9.94301182e-01 2.39222692e-02 2.00991222e+01] [ 4.15850704e-02 -1.96889143e-02 9.98940953e-01 1.55780591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters Centerline goodness : 0.883227 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.10, Z:15.58 [[ 9.93978283e-01 1.04096526e-01 -3.42211488e-02 -1.26806431e+01] [-1.03742174e-01 9.94532107e-01 1.19770726e-02 2.00988844e+01] [ 3.52808029e-02 -8.35477368e-03 9.99342515e-01 1.55769327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.094839173 meters Centerline goodness : 0.891669 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.10, Z:15.58 [[ 9.94307735e-01 1.02338500e-01 -2.96472525e-02 -1.26749758e+01] [-1.02477735e-01 9.94730114e-01 -3.21167504e-03 2.00972102e+01] [ 2.91623368e-02 6.23157663e-03 9.99555264e-01 1.55756914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters Centerline goodness : 0.889781 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.10, Z:15.58 [[ 9.94200974e-01 1.03433318e-01 -2.94274043e-02 -1.26758190e+01] [-1.03580621e-01 9.94614825e-01 -3.52196106e-03 2.01003458e+01] [ 2.89046445e-02 6.54964592e-03 9.99560715e-01 1.55751720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.154839173 meters Centerline goodness : 0.889827 Centerline is valid? [False, False] Translation: X:-12.68, Y:20.10, Z:15.57 [[ 9.94170110e-01 1.03823871e-01 -2.90928886e-02 -1.26762230e+01] [-1.03980224e-01 9.94571680e-01 -3.90987175e-03 2.01031139e+01] [ 2.85290251e-02 6.91216271e-03 9.99569066e-01 1.55745152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.184839173 meters Centerline goodness : 0.884756 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.11, Z:15.57 [[ 9.93878882e-01 1.06569942e-01 -2.91138415e-02 -1.26713358e+01] [-1.06675065e-01 9.94291766e-01 -2.07730779e-03 2.01088101e+01] [ 2.87262743e-02 5.17031327e-03 9.99573944e-01 1.55695554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.214839173 meters Centerline goodness : 0.878888 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.11, Z:15.57 [[ 9.93600660e-01 1.08995626e-01 -2.96257045e-02 -1.26663525e+01] [-1.09040363e-01 9.94037317e-01 1.06082090e-04 2.01119886e+01] [ 2.94606183e-02 3.12499435e-03 9.99561057e-01 1.55659457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.244839173 meters Centerline goodness : 0.879251 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.12, Z:15.56 [[ 9.93230975e-01 1.12182511e-01 -3.01216580e-02 -1.26631618e+01] [-1.12163983e-01 9.93687027e-01 2.30944136e-03 2.01165273e+01] [ 3.01905797e-02 1.08475644e-03 9.99543572e-01 1.55639724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.274839173 meters Centerline goodness : 0.878538 Centerline is valid? [False, False] Translation: X:-12.67, Y:20.12, Z:15.57 [[ 9.93492232e-01 1.09729375e-01 -3.05393217e-02 -1.26650220e+01] [-1.09820133e-01 9.93950619e-01 -1.30551694e-03 2.01180051e+01] [ 3.02113241e-02 4.65085332e-03 9.99532714e-01 1.55651013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.304839173 meters Centerline goodness : 0.877983 Centerline is valid? [False, False] Translation: X:-12.66, Y:20.12, Z:15.57 [[ 9.93501705e-01 1.09351059e-01 -3.15706940e-02 -1.26632865e+01] [-1.09439154e-01 9.93992920e-01 -1.07085607e-03 2.01154133e+01] [ 3.12639471e-02 4.51896737e-03 9.99500948e-01 1.55658523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.334839173 meters Centerline goodness : 0.873230 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.12, Z:15.56 [[ 9.93508583e-01 1.08696296e-01 -3.35531101e-02 -1.26534978e+01] [-1.08828295e-01 9.94058286e-01 -2.12770140e-03 2.01164712e+01] [ 3.31224739e-02 5.76541737e-03 9.99434671e-01 1.55582748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36483917300001 meters Centerline goodness : 0.867863 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.12, Z:15.55 [[ 9.92846474e-01 1.14427902e-01 -3.40900830e-02 -1.26467451e+01] [-1.14374836e-01 9.93431469e-01 3.50911032e-03 2.01193652e+01] [ 3.42677014e-02 4.15039862e-04 9.99412604e-01 1.55539635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.394839173 meters Centerline goodness : 0.866288 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.12, Z:15.56 [[ 9.92797756e-01 1.14875092e-01 -3.40048442e-02 -1.26477618e+01] [-1.14806448e-01 9.93379943e-01 3.97085037e-03 2.01194410e+01] [ 3.42358820e-02 -3.82759490e-05 9.99413780e-01 1.55552856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters Centerline goodness : 0.870599 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.12, Z:15.56 [[ 9.92976129e-01 1.14898212e-01 -2.82277743e-02 -1.26383276e+01] [-1.15067115e-01 9.93347848e-01 -4.42850384e-03 2.01172151e+01] [ 2.75311717e-02 7.64548715e-03 9.99591707e-01 1.55565790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.454839173 meters Centerline goodness : 0.871729 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.12, Z:15.56 [[ 9.93214751e-01 1.12944553e-01 -2.77125529e-02 -1.26425105e+01] [-1.13157431e-01 9.93557523e-01 -6.23250379e-03 2.01169954e+01] [ 2.68300881e-02 9.32609599e-03 9.99596504e-01 1.55600057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters Centerline goodness : 0.876293 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.11, Z:15.56 [[ 9.94032118e-01 1.08075849e-01 -1.48242944e-02 -1.26421534e+01] [-1.08186514e-01 9.94106836e-01 -6.87582449e-03 2.01139736e+01] [ 1.39938218e-02 8.43857911e-03 9.99866473e-01 1.55608731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.514839173 meters Centerline goodness : 0.881137 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.11, Z:15.57 [[ 9.94362584e-01 1.05017708e-01 -1.46401112e-02 -1.26452696e+01] [-1.05118509e-01 9.94439793e-01 -6.29261106e-03 2.01062123e+01] [ 1.38978735e-02 7.79608366e-03 9.99873027e-01 1.55680568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.544839173 meters Centerline goodness : 0.881620 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.10, Z:15.57 [[ 9.94687810e-01 1.01893428e-01 -1.46249804e-02 -1.26470993e+01] [-1.02024575e-01 9.94745406e-01 -8.51840459e-03 2.01024079e+01] [ 1.36801626e-02 9.96526061e-03 9.99856763e-01 1.55699540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.574839173 meters Centerline goodness : 0.883852 Centerline is valid? [False, False] Translation: X:-12.65, Y:20.10, Z:15.57 [[ 9.95079192e-01 9.79280141e-02 -1.50832954e-02 -1.26465075e+01] [-9.81061458e-02 9.95108820e-01 -1.15593951e-02 2.00991473e+01] [ 1.38775317e-02 1.29822775e-02 9.99819421e-01 1.55698626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.604839173 meters Centerline goodness : 0.882117 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.09, Z:15.57 [[ 9.95520238e-01 9.32804989e-02 -1.54338900e-02 -1.26407898e+01] [-9.34951854e-02 9.95523718e-01 -1.38267198e-02 2.00934823e+01] [ 1.40750402e-02 1.52077738e-02 9.99785285e-01 1.55652100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.634839173 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.09, Z:15.57 [[ 9.95601355e-01 9.24485525e-02 -1.52054916e-02 -1.26399690e+01] [-9.26452775e-02 9.95617091e-01 -1.27851787e-02 2.00893558e+01] [ 1.39568761e-02 1.41376583e-02 9.99802647e-01 1.55655780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.664839173 meters Centerline goodness : 0.887011 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.08, Z:15.57 [[ 9.96085829e-01 8.74099231e-02 -1.31349629e-02 -1.26347861e+01] [-8.75034375e-02 9.96141545e-01 -6.72085540e-03 2.00808317e+01] [ 1.24968127e-02 7.84390322e-03 9.99891146e-01 1.55749542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.694839173 meters Centerline goodness : 0.885461 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.08, Z:15.58 [[ 9.96185054e-01 8.62308999e-02 -1.34004035e-02 -1.26328093e+01] [-8.63173969e-02 9.96249529e-01 -6.01528495e-03 2.00774334e+01] [ 1.28314423e-02 7.14902491e-03 9.99892117e-01 1.55752240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.724839173 meters Centerline goodness : 0.878154 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.08, Z:15.57 [[ 9.96296964e-01 8.35194777e-02 -2.04170752e-02 -1.26199510e+01] [-8.33415944e-02 9.96476562e-01 9.41489160e-03 2.00796063e+01] [ 2.11314638e-02 -7.67843631e-03 9.99747219e-01 1.55707534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75483917300001 meters Centerline goodness : 0.860523 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.09, Z:15.56 [[ 9.96042814e-01 8.52126084e-02 -2.52492435e-02 -1.26020797e+01] [-8.50188156e-02 9.96341766e-01 8.65373990e-03 2.00899767e+01] [ 2.58942836e-02 -6.47283467e-03 9.99643731e-01 1.55570342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters Centerline goodness : 0.855512 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.09, Z:15.56 [[ 9.96303380e-01 8.17892049e-02 -2.62697799e-02 -1.26015413e+01] [-8.17417410e-02 9.96649391e-01 2.87738984e-03 2.00930129e+01] [ 2.64170995e-02 -7.19415679e-04 9.99650749e-01 1.55550078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.814839173 meters Centerline goodness : 0.866378 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.09, Z:15.56 [[ 9.96598912e-01 7.88371847e-02 -2.39855419e-02 -1.25921976e+01] [-7.91786404e-02 9.96767198e-01 -1.36343455e-02 2.00938053e+01] [ 2.28331080e-02 1.54871165e-02 9.99619327e-01 1.55550182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters Centerline goodness : 0.863845 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.09, Z:15.56 [[ 9.96539955e-01 7.95571092e-02 -2.40579513e-02 -1.25936749e+01] [-7.98892155e-02 9.96716714e-01 -1.31721400e-02 2.00942956e+01] [ 2.29310248e-02 1.50485346e-02 9.99623784e-01 1.55570834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.874839173 meters Centerline goodness : 0.867519 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.10, Z:15.56 [[ 9.96262714e-01 8.29028530e-02 -2.42429872e-02 -1.25921611e+01] [-8.31353431e-02 9.96499912e-01 -8.74301487e-03 2.00953155e+01] [ 2.34333137e-02 1.07257888e-02 9.99667863e-01 1.55587002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.904839173 meters Centerline goodness : 0.863385 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.11, Z:15.55 [[ 9.96602044e-01 8.18581866e-02 -9.14347968e-03 -1.26029346e+01] [-8.17611144e-02 9.96596334e-01 1.05293554e-02 2.01095767e+01] [ 9.97427228e-03 -9.74599607e-03 9.99902760e-01 1.55488145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.934839173 meters Centerline goodness : 0.853253 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.12, Z:15.54 [[ 9.96649422e-01 8.16610001e-02 -4.62727522e-03 -1.25924176e+01] [-8.14926308e-02 9.96247137e-01 2.91649424e-02 2.01227694e+01] [ 6.99154805e-03 -2.86901341e-02 9.99563902e-01 1.55407885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.964839173 meters Centerline goodness : 0.850816 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.13, Z:15.54 [[ 9.96717001e-01 8.07635676e-02 -5.69794964e-03 -1.25888488e+01] [-8.05898034e-02 9.96407835e-01 2.60136338e-02 2.01299960e+01] [ 7.77843553e-03 -2.54690344e-02 9.99645349e-01 1.55366808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.994839173 meters Centerline goodness : 0.853014 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.15, Z:15.53 [[ 9.96294935e-01 8.58966651e-02 -4.26218483e-03 -1.25988027e+01] [-8.58325870e-02 9.96218850e-01 1.34450569e-02 2.01479443e+01] [ 5.40095443e-03 -1.30294078e-02 9.99900527e-01 1.55322830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.024839173 meters Centerline goodness : 0.856263 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.15, Z:15.54 [[ 9.95977927e-01 8.94827800e-02 -4.56080642e-03 -1.26029756e+01] [-8.94104808e-02 9.95894359e-01 1.41489169e-02 2.01540986e+01] [ 5.80816581e-03 -1.36842251e-02 9.99889497e-01 1.55366868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.054839173 meters Centerline goodness : 0.860592 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.17, Z:15.54 [[ 9.95704511e-01 9.25869476e-02 4.29491400e-04 -1.26193597e+01] [-9.25874885e-02 9.95703449e-01 1.48289672e-03 2.01694285e+01] [-2.90349188e-04 -1.51629248e-03 9.99998808e-01 1.55401962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.084839173 meters Centerline goodness : 0.861547 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.17, Z:15.54 [[ 9.95697907e-01 9.26589323e-02 -1.34178997e-05 -1.26194447e+01] [-9.26588529e-02 9.95697223e-01 1.17326335e-03 2.01707872e+01] [ 1.22073495e-04 -1.16697258e-03 9.99999312e-01 1.55414452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11483917300001 meters Centerline goodness : 0.861342 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.17, Z:15.54 [[ 9.95775200e-01 9.18208769e-02 -8.22743202e-04 -1.26165106e+01] [-9.18205041e-02 9.95775459e-01 4.80107012e-04 2.01704975e+01] [ 8.63351336e-04 -4.02533961e-04 9.99999546e-01 1.55396365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.144839173 meters Centerline goodness : 0.858418 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.53 [[ 9.96417139e-01 8.45565047e-02 -1.75582251e-03 -1.26039247e+01] [-8.45236993e-02 9.96322368e-01 1.40528741e-02 2.01680803e+01] [ 2.93762716e-03 -1.38541160e-02 9.99899712e-01 1.55317802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.174839173 meters Centerline goodness : 0.856657 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.53 [[ 9.97156695e-01 7.53427955e-02 1.41027950e-03 -1.25940247e+01] [-7.53497804e-02 9.96659540e-01 3.14987459e-02 2.01658976e+01] [ 9.67635055e-04 -3.15154496e-02 9.99502796e-01 1.55312959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters Centerline goodness : 0.856739 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.53 [[ 9.97457668e-01 7.12462066e-02 1.47580366e-03 -1.25951704e+01] [-7.12593332e-02 9.97052436e-01 2.84349678e-02 2.01663753e+01] [ 5.54429953e-04 -2.84678415e-02 9.99594555e-01 1.55335031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.234839173 meters Centerline goodness : 0.865948 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.16, Z:15.54 [[ 9.98083133e-01 6.14508316e-02 7.33862271e-03 -1.25931614e+01] [-6.15192744e-02 9.98060720e-01 9.49618284e-03 2.01606200e+01] [-6.74084273e-03 -9.92944666e-03 9.99927981e-01 1.55418089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.264839173 meters Centerline goodness : 0.869550 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.16, Z:15.55 [[ 9.98427307e-01 5.55980670e-02 7.19494285e-03 -1.26015126e+01] [-5.56079275e-02 9.98451988e-01 1.17760038e-03 2.01575396e+01] [-7.11833268e-03 -1.57584424e-03 9.99973423e-01 1.55476989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.294839173 meters Centerline goodness : 0.874104 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.16, Z:15.55 [[ 9.98422082e-01 5.57133048e-02 7.02664053e-03 -1.26063784e+01] [-5.57084596e-02 9.98446687e-01 -8.83553761e-04 2.01591389e+01] [-7.06495166e-03 4.90716266e-04 9.99974923e-01 1.55520165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.324839173 meters Centerline goodness : 0.872868 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.16, Z:15.55 [[ 9.98052789e-01 6.20288300e-02 6.56155401e-03 -1.26018190e+01] [-6.20627504e-02 9.98059226e-01 5.09864587e-03 2.01638755e+01] [-6.23255648e-03 -5.49594582e-03 9.99965474e-01 1.55486254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.354839173 meters Centerline goodness : 0.867126 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.18, Z:15.54 [[ 9.97061602e-01 7.63914354e-02 5.70183987e-03 -1.25939923e+01] [-7.64633267e-02 9.96978474e-01 1.36851177e-02 2.01766953e+01] [-4.63918582e-03 -1.40808871e-02 9.99890097e-01 1.55352547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.384839173 meters Centerline goodness : 0.855169 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.19, Z:15.53 [[ 9.95674347e-01 9.27434601e-02 5.58970091e-03 -1.25900759e+01] [-9.28499451e-02 9.95403756e-01 2.34574182e-02 2.01874828e+01] [-3.38848714e-03 -2.38749530e-02 9.99709210e-01 1.55252463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.414839173 meters Centerline goodness : 0.856865 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.19, Z:15.52 [[ 9.95234926e-01 9.73630925e-02 5.27919429e-03 -1.25889126e+01] [-9.74644096e-02 9.94933435e-01 2.46606715e-02 2.01938302e+01] [-2.85140767e-03 -2.50576951e-02 9.99681940e-01 1.55219349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.444839173 meters Centerline goodness : 0.858582 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.20, Z:15.52 [[ 9.94722612e-01 1.02516930e-01 4.14779254e-03 -1.25890331e+01] [-1.02590533e-01 9.94381964e-01 2.60708897e-02 2.02002942e+01] [-1.45178252e-03 -2.63588278e-02 9.99651492e-01 1.55226705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.474839173 meters Centerline goodness : 0.857939 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.20, Z:15.52 [[ 9.94677737e-01 1.02975042e-01 3.51287113e-03 -1.25890150e+01] [-1.03031297e-01 9.94351101e-01 2.55037358e-02 2.02021204e+01] [-8.66779006e-04 -2.57299339e-02 9.99668555e-01 1.55235890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters Centerline goodness : 0.857590 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.20, Z:15.53 [[ 9.94624466e-01 1.03502510e-01 3.06618556e-03 -1.25896120e+01] [-1.03547118e-01 9.94296904e-01 2.55276429e-02 2.02026789e+01] [-4.06523713e-04 -2.57079128e-02 9.99669414e-01 1.55252073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.534839173 meters Centerline goodness : 0.862961 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.20, Z:15.53 [[ 9.94461841e-01 1.04987188e-01 4.83092492e-03 -1.26002986e+01] [-1.05075274e-01 9.94154916e-01 2.48030005e-02 2.02004031e+01] [-2.19869048e-03 -2.51732483e-02 9.99680686e-01 1.55312765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters Centerline goodness : 0.868168 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.20, Z:15.53 [[ 9.94836798e-01 1.01348718e-01 5.30869831e-03 -1.26012253e+01] [-1.01444040e-01 9.94581303e-01 2.27406940e-02 2.01973946e+01] [-2.97519190e-03 -2.31618150e-02 9.99727302e-01 1.55319884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.594839173 meters Centerline goodness : 0.872510 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.20, Z:15.53 [[ 9.95034041e-01 9.93951886e-02 5.27770559e-03 -1.25979942e+01] [-9.94908703e-02 9.94774144e-01 2.29340050e-02 2.01951454e+01] [-2.97059531e-03 -2.33451992e-02 9.99723050e-01 1.55297997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.624839173 meters Centerline goodness : 0.860433 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.19, Z:15.52 [[ 9.96357925e-01 8.37999095e-02 1.57626108e-02 -1.26028872e+01] [-8.43592865e-02 9.95671614e-01 3.90070241e-02 2.01897886e+01] [-1.24255990e-02 -4.01946803e-02 9.99114604e-01 1.55243825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.654839173 meters Centerline goodness : 0.865265 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.19, Z:15.52 [[ 9.96858182e-01 7.77912139e-02 1.49094572e-02 -1.25979392e+01] [-7.82586401e-02 9.96357799e-01 3.38632707e-02 2.01897193e+01] [-1.22208890e-02 -3.49236723e-02 9.99315259e-01 1.55197579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.684839173 meters Centerline goodness : 0.860005 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.19, Z:15.52 [[ 9.97293978e-01 7.21854186e-02 1.39279175e-02 -1.25938117e+01] [-7.25603115e-02 9.96953663e-01 2.86075891e-02 2.01887115e+01] [-1.18204376e-02 -2.95407903e-02 9.99493681e-01 1.55159323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.714839173 meters Centerline goodness : 0.868443 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.19, Z:15.51 [[ 9.97748298e-01 6.55923496e-02 1.39992289e-02 -1.26022741e+01] [-6.57865788e-02 9.97736950e-01 1.38962026e-02 2.01864296e+01] [-1.30560633e-02 -1.47858738e-02 9.99805440e-01 1.55127899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.744839173 meters Centerline goodness : 0.867631 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.18, Z:15.52 [[ 9.97721300e-01 6.59687578e-02 1.41538117e-02 -1.26094045e+01] [-6.61256621e-02 9.97751554e-01 1.09193876e-02 2.01843474e+01] [-1.34016492e-02 -1.18304358e-02 9.99840206e-01 1.55168136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.774839173 meters Centerline goodness : 0.863450 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.19, Z:15.52 [[ 9.96748870e-01 7.95171429e-02 1.29890320e-02 -1.26228804e+01] [-7.94835090e-02 9.96831403e-01 -3.08625283e-03 2.01865952e+01] [-1.31932850e-02 2.04380518e-03 9.99910876e-01 1.55221490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.804839173 meters Centerline goodness : 0.863450 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.19, Z:15.52 [[ 9.96748870e-01 7.95171429e-02 1.29890320e-02 -1.26228804e+01] [-7.94835090e-02 9.96831403e-01 -3.08625283e-03 2.01865952e+01] [-1.31932850e-02 2.04380518e-03 9.99910876e-01 1.55221490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.834839173 meters Centerline goodness : 0.872725 Centerline is valid? [False, False] Translation: X:-12.64, Y:20.18, Z:15.53 [[ 9.95767475e-01 9.04931056e-02 1.60665340e-02 -1.26356036e+01] [-9.05880570e-02 9.95874440e-01 5.28240553e-03 2.01823537e+01] [-1.55222292e-02 -6.71548371e-03 9.99856971e-01 1.55285466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86483917300001 meters Centerline goodness : 0.872739 Centerline is valid? [False, False] Translation: X:-12.63, Y:20.18, Z:15.53 [[ 9.95501024e-01 9.32958745e-02 1.65405799e-02 -1.26329512e+01] [-9.34687051e-02 9.95571980e-01 1.00016527e-02 2.01778707e+01] [-1.55342249e-02 -1.15026821e-02 9.99813171e-01 1.55260745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.894839173 meters Centerline goodness : 0.865103 Centerline is valid? [False, False] Translation: X:-12.62, Y:20.16, Z:15.52 [[ 9.96853898e-01 7.77053741e-02 1.56262673e-02 -1.26168419e+01] [-7.82751222e-02 9.96131472e-01 3.99386529e-02 2.01639138e+01] [-1.24623687e-02 -4.10361498e-02 9.99079939e-01 1.55179885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters Centerline goodness : 0.856094 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.16, Z:15.51 [[ 9.97823014e-01 6.43260992e-02 1.45390817e-02 -1.26028453e+01] [-6.49800864e-02 9.96623567e-01 5.01901889e-02 2.01586125e+01] [-1.12614524e-02 -5.10256764e-02 9.98633847e-01 1.55110363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.954839173 meters Centerline goodness : 0.856404 Centerline is valid? [False, False] Translation: X:-12.58, Y:20.15, Z:15.51 [[ 9.99014421e-01 4.24745011e-02 1.28881286e-02 -1.25795487e+01] [-4.30125135e-02 9.98068656e-01 4.48205535e-02 2.01535206e+01] [-1.09595065e-02 -4.53307301e-02 9.98911915e-01 1.55122354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.984839173 meters Centerline goodness : 0.869293 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.15, Z:15.53 [[ 9.99285624e-01 3.12498022e-02 2.12530163e-02 -1.25942186e+01] [-3.16271498e-02 9.99343764e-01 1.76568414e-02 2.01506896e+01] [-2.06872965e-02 -1.83164001e-02 9.99618200e-01 1.55274428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.014839173 meters Centerline goodness : 0.874747 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.15, Z:15.53 [[ 9.99153749e-01 3.16203945e-02 2.63046801e-02 -1.26009376e+01] [-3.15896634e-02 9.99499668e-01 -1.58311131e-03 2.01505416e+01] [-2.63415777e-02 7.50815608e-04 9.99652718e-01 1.55321169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.044839173 meters Centerline goodness : 0.875489 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.15, Z:15.54 [[ 9.99160243e-01 3.16414858e-02 2.60312318e-02 -1.26076350e+01] [-3.15664856e-02 9.99496249e-01 -3.28716182e-03 2.01482003e+01] [-2.61221292e-02 2.46268690e-03 9.99655726e-01 1.55394831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.074839173 meters Centerline goodness : 0.877158 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.15, Z:15.53 [[ 9.99214134e-01 3.58498932e-02 1.69085893e-02 -1.26070213e+01] [-3.60065355e-02 9.99310554e-01 9.05235415e-03 2.01541495e+01] [-1.65724058e-02 -9.65405993e-03 9.99816060e-01 1.55330809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.104839173 meters Centerline goodness : 0.873673 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.16, Z:15.52 [[ 9.99242339e-01 3.78435692e-02 9.08908264e-03 -1.26017659e+01] [-3.80419769e-02 9.99017131e-01 2.27503752e-02 2.01597114e+01] [-8.21919386e-03 -2.30789048e-02 9.99699859e-01 1.55230060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.134839173 meters Centerline goodness : 0.861295 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99168783e-01 4.07207480e-02 1.88769436e-03 -1.25898614e+01] [-4.07638416e-02 9.98340188e-01 4.06838898e-02 2.01678505e+01] [-2.27882720e-04 -4.07270224e-02 9.99170285e-01 1.55099421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.164839173 meters Centerline goodness : 0.859527 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99338075e-01 3.63482279e-02 1.48921354e-03 -1.25878497e+01] [-3.63782079e-02 9.98703945e-01 3.55957344e-02 2.01696420e+01] [-1.93441571e-04 -3.56263477e-02 9.99365161e-01 1.55069156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.194839173 meters Centerline goodness : 0.859497 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99712714e-01 2.39684848e-02 -4.42039500e-05 -1.25862930e+01] [-2.39608269e-02 9.99436645e-01 2.35004729e-02 2.01673189e+01] [ 6.07449776e-04 -2.34926624e-02 9.99723825e-01 1.55079272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.224839173 meters Centerline goodness : 0.861692 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99854977e-01 1.70012891e-02 -9.90967293e-04 -1.25867575e+01] [-1.69846412e-02 9.99744656e-01 1.49044921e-02 2.01687560e+01] [ 1.24410983e-03 -1.48854994e-02 9.99888431e-01 1.55085063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.254839173 meters Centerline goodness : 0.864537 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.52 [[ 9.99840235e-01 1.78745939e-02 5.80671702e-05 -1.25971071e+01] [-1.78738397e-02 9.99755837e-01 1.29919803e-02 2.01677078e+01] [ 1.74173380e-04 -1.29909425e-02 9.99915599e-01 1.55164058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.284839173 meters Centerline goodness : 0.867960 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.52 [[ 9.99726202e-01 2.33938595e-02 4.97586030e-04 -1.26003663e+01] [-2.33990214e-02 9.99565295e-01 1.79361653e-02 2.01688751e+01] [-7.77735976e-05 -1.79428974e-02 9.99839010e-01 1.55196569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.314839173 meters Centerline goodness : 0.867393 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.17, Z:15.52 [[ 9.99467584e-01 3.25342637e-02 2.46359799e-03 -1.26080402e+01] [-3.25860529e-02 9.99151616e-01 2.51832598e-02 2.01709987e+01] [-1.64218910e-03 -2.52501307e-02 9.99679816e-01 1.55236138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters Centerline goodness : 0.868028 Centerline is valid? [False, False] Translation: X:-12.61, Y:20.17, Z:15.52 [[ 9.99558869e-01 2.95726571e-02 2.74329561e-03 -1.26088857e+01] [-2.96238777e-02 9.99340033e-01 2.10219945e-02 2.01716058e+01] [-2.11980889e-03 -2.10939881e-02 9.99775250e-01 1.55220454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.374839173 meters Centerline goodness : 0.867257 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.52 [[ 9.99749207e-01 2.22779928e-02 2.28343881e-03 -1.26023641e+01] [-2.23104725e-02 9.99633210e-01 1.53521691e-02 2.01662105e+01] [-1.94058575e-03 -1.53992635e-02 9.99879541e-01 1.55154635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.404839173 meters Centerline goodness : 0.864188 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99828111e-01 1.84824810e-02 1.46520850e-03 -1.25935339e+01] [-1.85012170e-02 9.99730606e-01 1.40150233e-02 2.01655858e+01] [-1.20578138e-03 -1.40397224e-02 9.99900711e-01 1.55091938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.434839173 meters Centerline goodness : 0.865844 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99830199e-01 1.83777328e-02 1.35334455e-03 -1.25930836e+01] [-1.83947374e-02 9.99734746e-01 1.38589486e-02 2.01664027e+01] [-1.09828951e-03 -1.38814898e-02 9.99903044e-01 1.55088760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.464839173 meters Centerline goodness : 0.865338 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.17, Z:15.51 [[ 9.99813519e-01 1.92667251e-02 1.31184218e-03 -1.25944673e+01] [-1.92831984e-02 9.99716273e-01 1.39832860e-02 2.01678248e+01] [-1.04205784e-03 -1.40059749e-02 9.99901369e-01 1.55101241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.494839173 meters Centerline goodness : 0.867223 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.17, Z:15.51 [[ 9.99632031e-01 2.70799509e-02 1.57430372e-03 -1.25995395e+01] [-2.71032177e-02 9.99481980e-01 1.73547265e-02 2.01701598e+01] [-1.10352306e-03 -1.73910092e-02 9.99848156e-01 1.55108327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.524839173 meters Centerline goodness : 0.866900 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.18, Z:15.51 [[ 9.99580858e-01 2.89343284e-02 9.55930364e-04 -1.26001094e+01] [-2.89453574e-02 9.99470211e-01 1.48816695e-02 2.01756397e+01] [-5.24832810e-04 -1.49031017e-02 9.99888805e-01 1.55077212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.554839173 meters Centerline goodness : 0.863136 Centerline is valid? [False, False] Translation: X:-12.60, Y:20.18, Z:15.51 [[ 9.99551829e-01 2.99354243e-02 -1.08657295e-04 -1.25991090e+01] [-2.99313834e-02 9.99464810e-01 1.31986923e-02 2.01788793e+01] [ 5.03707596e-04 -1.31895247e-02 9.99912888e-01 1.55058968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.584839173 meters Centerline goodness : 0.867828 Centerline is valid? [False, False] Translation: X:-12.59, Y:20.18, Z:15.50 [[ 9.99792658e-01 2.02806212e-02 -1.82705352e-03 -1.25884512e+01] [-2.02680137e-02 9.99772312e-01 6.67318148e-03 2.01752325e+01] [ 1.96197378e-03 -6.63476710e-03 9.99976065e-01 1.55001812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61483917300001 meters Centerline goodness : 0.865249 Centerline is valid? [False, False] Translation: X:-12.58, Y:20.17, Z:15.49 [[ 9.99892482e-01 1.45158486e-02 -2.07698871e-03 -1.25809142e+01] [-1.45087219e-02 9.99888941e-01 3.40613173e-03 2.01745632e+01] [ 2.12620094e-03 -3.37563106e-03 9.99992042e-01 1.54944827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters Centerline goodness : 0.862840 Centerline is valid? [False, False] Translation: X:-12.56, Y:20.17, Z:15.49 [[ 9.99993782e-01 -3.04041581e-03 1.78656703e-03 -1.25631754e+01] [ 3.00824598e-03 9.99838083e-01 1.77414255e-02 2.01716593e+01] [-1.84021906e-03 -1.77359408e-02 9.99841012e-01 1.54948753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.674839173 meters Centerline goodness : 0.864273 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.17, Z:15.49 [[ 9.99960655e-01 -5.58093385e-03 6.89502754e-03 -1.25477549e+01] [ 5.51090620e-03 9.99933465e-01 1.01338456e-02 2.01706614e+01] [-6.95112510e-03 -1.00954490e-02 9.99924879e-01 1.54947994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters Centerline goodness : 0.870748 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.16, Z:15.50 [[ 9.99849038e-01 -1.02713721e-02 1.40143057e-02 -1.25462511e+01] [ 1.03194376e-02 9.99941102e-01 -3.36174676e-03 2.01623070e+01] [-1.39789505e-02 3.50585901e-03 9.99896144e-01 1.55039162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.734839173 meters Centerline goodness : 0.875391 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.16, Z:15.51 [[ 9.99870807e-01 -8.90813317e-03 1.33796650e-02 -1.25480526e+01] [ 8.93097841e-03 9.99958759e-01 -1.64868089e-03 2.01587426e+01] [-1.33644266e-02 1.76796139e-03 9.99909129e-01 1.55082574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.764839173 meters Centerline goodness : 0.875014 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.17, Z:15.50 [[ 9.99936735e-01 1.66656621e-03 1.11242392e-02 -1.25458789e+01] [-1.70012147e-03 9.99994032e-01 3.00763477e-03 2.01668513e+01] [-1.11191604e-02 -3.02635705e-03 9.99933601e-01 1.55024342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.794839173 meters Centerline goodness : 0.869403 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.17, Z:15.50 [[ 9.99900105e-01 9.40360517e-03 1.05523696e-02 -1.25434988e+01] [-9.49967345e-03 9.99913551e-01 9.09106208e-03 2.01717727e+01] [-1.04659686e-02 -9.19039799e-03 9.99902995e-01 1.54991012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.824839173 meters Centerline goodness : 0.869991 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.17, Z:15.50 [[ 9.99656562e-01 2.38080364e-02 1.09514705e-02 -1.25460383e+01] [-2.40365653e-02 9.99485592e-01 2.12319323e-02 2.01743117e+01] [-1.04403463e-02 -2.14878762e-02 9.99714594e-01 1.54993320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.854839173 meters Centerline goodness : 0.866167 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.18, Z:15.50 [[ 9.99528355e-01 2.87921420e-02 1.06808623e-02 -1.25456606e+01] [-2.90498071e-02 9.99270047e-01 2.48089265e-02 2.01758052e+01] [-9.95876363e-03 -2.51075025e-02 9.99635152e-01 1.54980374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.884839173 meters Centerline goodness : 0.866227 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.18, Z:15.50 [[ 9.99626148e-01 2.52363692e-02 1.05209383e-02 -1.25456264e+01] [-2.54457693e-02 9.99470709e-01 2.02685848e-02 2.01775863e+01] [-1.00038642e-02 -2.05287207e-02 9.99739213e-01 1.54969271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.914839173 meters Centerline goodness : 0.873380 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.17, Z:15.51 [[ 9.99689706e-01 2.16054831e-02 1.23973432e-02 -1.25494457e+01] [-2.18941056e-02 9.99480816e-01 2.36378157e-02 2.01689762e+01] [-1.18802003e-02 -2.39019098e-02 9.99643716e-01 1.55092671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.944839173 meters Centerline goodness : 0.873887 Centerline is valid? [False, False] Translation: X:-12.56, Y:20.17, Z:15.51 [[ 9.99778011e-01 1.65409981e-02 1.30508489e-02 -1.25550786e+01] [-1.67728755e-02 9.99699756e-01 1.78624633e-02 2.01668189e+01] [-1.27514675e-02 -1.80773983e-02 9.99755274e-01 1.55137644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.974839173 meters Centerline goodness : 0.878485 Centerline is valid? [False, False] Translation: X:-12.56, Y:20.16, Z:15.52 [[ 9.99873141e-01 9.40184977e-03 1.28571540e-02 -1.25564578e+01] [-9.55101554e-03 9.99887219e-01 1.15900065e-02 2.01633079e+01] [-1.27467364e-02 -1.17113351e-02 9.99850171e-01 1.55166798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters Centerline goodness : 0.880981 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.16, Z:15.52 [[ 9.99893550e-01 8.43982901e-03 1.19019757e-02 -1.25528228e+01] [-8.57797024e-03 9.99895881e-01 1.16036922e-02 2.01613542e+01] [-1.18028033e-02 -1.17045518e-02 9.99861839e-01 1.55152772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.034839173 meters Centerline goodness : 0.877696 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.16, Z:15.51 [[ 9.99901205e-01 7.52417648e-03 1.18729187e-02 -1.25485797e+01] [-7.65531038e-03 9.99909772e-01 1.10382701e-02 2.01593143e+01] [-1.17887935e-02 -1.11280705e-02 9.99868587e-01 1.55099011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters Centerline goodness : 0.877270 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.16, Z:15.51 [[ 9.99908733e-01 6.84199003e-03 1.16495726e-02 -1.25459011e+01] [-6.95995533e-03 9.99924611e-01 1.01158991e-02 2.01601721e+01] [-1.15794814e-02 -1.01960564e-02 9.99880971e-01 1.55066134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.094839173 meters Centerline goodness : 0.872845 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.16, Z:15.51 [[ 9.99909451e-01 7.20915376e-03 1.13629830e-02 -1.25447971e+01] [-7.33315540e-03 9.99913604e-01 1.09091492e-02 2.01550729e+01] [-1.12833555e-02 -1.09914879e-02 9.99875929e-01 1.55060335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.124839173 meters Centerline goodness : 0.152217 Centerline is valid? [False, False] Translation: X:-12.55, Y:20.15, Z:15.51 [[ 9.99913138e-01 5.97692025e-03 1.17470748e-02 -1.25487944e+01] [-6.07729677e-03 9.99945170e-01 8.52776952e-03 2.01507503e+01] [-1.16954610e-02 -8.59841924e-03 9.99894636e-01 1.55082982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.154839173 meters Centerline goodness : 0.141394 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.14, Z:15.51 [[ 9.99817186e-01 7.93972330e-03 1.73941410e-02 -1.25395985e+01] [-7.95747726e-03 9.99967886e-01 9.51710762e-04 2.01441315e+01] [-1.73860261e-02 -1.08995026e-03 9.99848258e-01 1.55094552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.184839173 meters Centerline goodness : 0.143269 Centerline is valid? [False, False] Translation: X:-12.54, Y:20.15, Z:15.51 [[ 9.99828699e-01 7.16529045e-03 1.70655212e-02 -1.25370857e+01] [-7.16993019e-03 9.99974274e-01 2.10709270e-04 2.01455265e+01] [-1.70635723e-02 -3.33031770e-04 9.99854351e-01 1.55072381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.214839173 meters Centerline goodness : 0.136107 Centerline is valid? [False, False] Translation: X:-12.53, Y:20.15, Z:15.50 [[ 9.99916984e-01 8.75015740e-03 9.45830394e-03 -1.25320692e+01] [-8.87602146e-03 9.99871512e-01 1.33482178e-02 2.01524878e+01] [-9.34028965e-03 -1.34310618e-02 9.99866174e-01 1.54967383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.244839173 meters Centerline goodness : 0.131814 Centerline is valid? [False, False] Translation: X:-12.53, Y:20.16, Z:15.49 [[ 9.99912020e-01 1.01360755e-02 8.55636975e-03 -1.25250969e+01] [-1.02349370e-02 9.99880446e-01 1.15905273e-02 2.01610228e+01] [-8.43786434e-03 -1.16770815e-02 9.99896219e-01 1.54859888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.274839173 meters Centerline goodness : 0.121732 Centerline is valid? [False, False] Translation: X:-12.52, Y:20.17, Z:15.48 [[ 9.99875304e-01 1.45193805e-02 6.21005238e-03 -1.25205713e+01] [-1.45860267e-02 9.99835022e-01 1.08248209e-02 2.01691509e+01] [-6.05185817e-03 -1.09140511e-02 9.99922126e-01 1.54794629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.304839173 meters Centerline goodness : 0.121622 Centerline is valid? [False, False] Translation: X:-12.51, Y:20.17, Z:15.48 [[ 9.99775867e-01 1.87094998e-02 9.90807582e-03 -1.25100426e+01] [-1.87250434e-02 9.99823578e-01 1.47833561e-03 2.01712572e+01] [-9.87866890e-03 -1.66353342e-03 9.99949821e-01 1.54770303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.334839173 meters Centerline goodness : 0.124315 Centerline is valid? [False, False] Translation: X:-12.50, Y:20.17, Z:15.48 [[ 9.99594412e-01 2.47083064e-02 1.41602148e-02 -1.25032322e+01] [-2.46473240e-02 9.99686237e-01 -4.46508049e-03 2.01693519e+01] [-1.42660964e-02 4.11425811e-03 9.99889770e-01 1.54825774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36483917300001 meters Centerline goodness : 0.124782 Centerline is valid? [False, False] Translation: X:-12.50, Y:20.17, Z:15.48 [[ 9.99574660e-01 2.55071199e-02 1.41380680e-02 -1.25048094e+01] [-2.54599864e-02 9.99669702e-01 -3.50384686e-03 2.01675798e+01] [-1.42227712e-02 3.14240152e-03 9.99893913e-01 1.54847078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.394839173 meters Centerline goodness : 0.123406 Centerline is valid? [False, False] Translation: X:-12.51, Y:20.16, Z:15.48 [[ 9.99577617e-01 1.92052576e-02 2.18116106e-02 -1.25089042e+01] [-1.93067331e-02 9.99803699e-01 4.45133080e-03 2.01640760e+01] [-2.17218400e-02 -4.87056158e-03 9.99752189e-01 1.54768055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters Centerline goodness : 0.133555 Centerline is valid? [False, False] Translation: X:-12.49, Y:20.16, Z:15.48 [[ 9.99662217e-01 6.34120859e-03 2.52039828e-02 -1.24894321e+01] [-6.90524736e-03 9.99726242e-01 2.23552864e-02 2.01585463e+01] [-2.50553235e-02 -2.25217749e-02 9.99432339e-01 1.54751919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.454839173 meters Centerline goodness : 0.123554 Centerline is valid? [False, False] Translation: X:-12.49, Y:20.16, Z:15.48 [[ 9.99663300e-01 2.38189266e-03 2.58382237e-02 -1.24896125e+01] [-2.87907512e-03 9.99811094e-01 1.92220267e-02 2.01582789e+01] [-2.57875579e-02 -1.92899449e-02 9.99481315e-01 1.54751528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.484839173 meters Centerline goodness : 0.133198 Centerline is valid? [False, False] Translation: X:-12.48, Y:20.15, Z:15.48 [[ 9.99458334e-01 2.67721131e-03 3.28004742e-02 -1.24822505e+01] [-3.12633932e-03 9.99901959e-01 1.36491031e-02 2.01537024e+01] [-3.27607168e-02 -1.37442553e-02 9.99368716e-01 1.54829065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.514839173 meters Centerline goodness : 0.136103 Centerline is valid? [False, False] Translation: X:-12.48, Y:20.15, Z:15.49 [[ 9.99670274e-01 6.02153525e-03 2.49616440e-02 -1.24758489e+01] [-6.23296821e-03 9.99945284e-01 8.40117994e-03 2.01507793e+01] [-2.49096902e-02 -8.55399499e-03 9.99653108e-01 1.54911074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.544839173 meters Centerline goodness : 0.355759 Centerline is valid? [False, False] Translation: X:-12.46, Y:20.15, Z:15.49 [[ 9.99798022e-01 1.30937148e-02 1.52469403e-02 -1.24625123e+01] [-1.30844329e-02 9.99914144e-01 -7.08371520e-04 2.01507527e+01] [-1.52549064e-02 5.08730878e-04 9.99883508e-01 1.54879982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.574839173 meters Centerline goodness : 0.330577 Centerline is valid? [False, False] Translation: X:-12.46, Y:20.15, Z:15.49 [[ 9.99793732e-01 1.36947025e-02 1.49982693e-02 -1.24619247e+01] [-1.36724303e-02 9.99905269e-01 -1.58652402e-03 2.01530388e+01] [-1.50185754e-02 1.38113398e-03 9.99886261e-01 1.54863282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.604839173 meters Centerline goodness : 0.785251 Centerline is valid? [False, False] Translation: X:-12.46, Y:20.16, Z:15.48 [[ 9.99772071e-01 1.59245473e-02 1.42202130e-02 -1.24556854e+01] [-1.59453574e-02 9.99871952e-01 1.35122581e-03 2.01554893e+01] [-1.41968745e-02 -1.57766421e-03 9.99897975e-01 1.54834196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.634839173 meters Centerline goodness : 0.111879 Centerline is valid? [False, False] Translation: X:-12.46, Y:20.16, Z:15.48 [[ 9.99861521e-01 1.45559336e-02 8.06617339e-03 -1.24611258e+01] [-1.46324183e-02 9.99847756e-01 9.50567038e-03 2.01568437e+01] [-7.92658146e-03 -9.62238167e-03 9.99922287e-01 1.54788845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.664839173 meters Centerline goodness : 0.210254 Centerline is valid? [False, False] Translation: X:-12.44, Y:20.17, Z:15.47 [[ 9.99809712e-01 1.88147823e-02 5.15215013e-03 -1.24413528e+01] [-1.89877588e-02 9.99175600e-01 3.58829453e-02 2.01673326e+01] [-4.47277289e-03 -3.59739450e-02 9.99342719e-01 1.54688113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.694839173 meters Centerline goodness : 0.210254 Centerline is valid? [False, False] Translation: X:-12.44, Y:20.17, Z:15.47 [[ 9.99809712e-01 1.88147823e-02 5.15215013e-03 -1.24413528e+01] [-1.89877588e-02 9.99175600e-01 3.58829453e-02 2.01673326e+01] [-4.47277289e-03 -3.59739450e-02 9.99342719e-01 1.54688113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.724839173 meters Centerline goodness : 0.206234 Centerline is valid? [False, False] Translation: X:-12.44, Y:20.18, Z:15.47 [[ 9.99764095e-01 2.03713316e-02 7.53407354e-03 -1.24427318e+01] [-2.06669612e-02 9.98924769e-01 4.14991990e-02 2.01754434e+01] [-6.68057873e-03 -4.16451155e-02 9.99110131e-01 1.54657015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.754839173 meters Centerline goodness : 0.413538 Centerline is valid? [False, False] Translation: X:-12.43, Y:20.19, Z:15.47 [[ 9.99871486e-01 1.60181702e-02 6.55982903e-04 -1.24336734e+01] [-1.60256587e-02 9.99777640e-01 1.37057876e-02 2.01889219e+01] [-4.36295400e-04 -1.37145388e-02 9.99905856e-01 1.54749883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters Centerline goodness : 0.221302 Centerline is valid? [False, False] Translation: X:-12.43, Y:20.19, Z:15.47 [[ 9.99890901e-01 1.42713020e-02 3.80999265e-03 -1.24299901e+01] [-1.42471285e-02 9.99878668e-01 -6.29824944e-03 2.01877988e+01] [-3.89941459e-03 6.24328086e-03 9.99972908e-01 1.54732626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.814839173 meters Centerline goodness : 0.178184 Centerline is valid? [False, False] Translation: X:-12.41, Y:20.19, Z:15.47 [[ 9.99940844e-01 8.17810778e-03 7.17129764e-03 -1.24116624e+01] [-7.99968304e-03 9.99666209e-01 -2.45657346e-02 2.01883873e+01] [-7.36980515e-03 2.45069133e-02 9.99672495e-01 1.54672952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters Centerline goodness : 0.182682 Centerline is valid? [False, False] Translation: X:-12.40, Y:20.19, Z:15.47 [[ 9.99947998e-01 6.36194373e-03 7.97043509e-03 -1.24008196e+01] [-6.21401441e-03 9.99810492e-01 -1.84490335e-02 2.01879992e+01] [-8.08629634e-03 1.83985457e-02 9.99798032e-01 1.54689135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.874839173 meters Centerline goodness : 0.183338 Centerline is valid? [False, False] Translation: X:-12.37, Y:20.19, Z:15.47 [[ 9.99871521e-01 1.61642324e-03 1.59476998e-02 -1.23690866e+01] [-1.55547043e-03 9.99991442e-01 -3.83370786e-03 2.01857810e+01] [-1.59537602e-02 3.80840914e-03 9.99865478e-01 1.54652886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.904839173 meters Centerline goodness : 0.150190 Centerline is valid? [False, False] Translation: X:-12.36, Y:20.18, Z:15.46 [[ 9.99874853e-01 -4.64733051e-04 1.58133764e-02 -1.23573522e+01] [ 4.63147097e-04 9.99999887e-01 1.03953991e-04 2.01847503e+01] [-1.58134229e-02 -9.66170618e-05 9.99874955e-01 1.54618673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.934839173 meters Centerline goodness : 0.139876 Centerline is valid? [False, False] Translation: X:-12.33, Y:20.18, Z:15.46 [[ 9.99873861e-01 -5.13286454e-03 1.50305059e-02 -1.23288376e+01] [ 4.99646581e-03 9.99946126e-01 9.09832673e-03 2.01796854e+01] [-1.50763967e-02 -9.02207967e-03 9.99845640e-01 1.54580121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.964839173 meters Centerline goodness : 0.204414 Centerline is valid? [False, False] Translation: X:-12.32, Y:20.18, Z:15.45 [[ 9.99859294e-01 -7.23525817e-03 1.51341812e-02 -1.23233011e+01] [ 7.10618020e-03 9.99938066e-01 8.56536234e-03 2.01783926e+01] [-1.51952165e-02 -8.45661093e-03 9.99848784e-01 1.54549154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.994839173 meters Centerline goodness : 0.221892 Centerline is valid? [False, False] Translation: X:-12.30, Y:20.17, Z:15.45 [[ 9.99750737e-01 -8.78575579e-03 2.05249869e-02 -1.23010100e+01] [ 8.76162558e-03 9.99960816e-01 1.26528214e-03 2.01741897e+01] [-2.05352991e-02 -1.08513450e-03 9.99788540e-01 1.54536295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.024839173 meters Centerline goodness : 0.249925 Centerline is valid? [False, False] Translation: X:-12.28, Y:20.17, Z:15.46 [[ 9.99892791e-01 -6.31680806e-03 1.32100104e-02 -1.22842961e+01] [ 6.36804160e-03 9.99972351e-01 -3.83992704e-03 2.01712717e+01] [-1.31853891e-02 3.92363726e-03 9.99905371e-01 1.54571922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.054839173 meters Centerline goodness : 0.251272 Centerline is valid? [False, False] Translation: X:-12.27, Y:20.17, Z:15.45 [[ 9.99930859e-01 -7.33286011e-03 9.19270177e-03 -1.22667663e+01] [ 7.38208685e-03 9.99958534e-01 -5.33253539e-03 2.01672065e+01] [-9.15321785e-03 5.40002802e-03 9.99943528e-01 1.54519585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.084839173 meters Centerline goodness : 0.254902 Centerline is valid? [False, False] Translation: X:-12.25, Y:20.17, Z:15.45 [[ 9.99966494e-01 -6.14443431e-03 5.40890062e-03 -1.22498543e+01] [ 6.16018449e-03 9.99976821e-01 -2.90007309e-03 2.01664196e+01] [-5.39095594e-03 2.93329575e-03 9.99981167e-01 1.54454551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11483917300001 meters Centerline goodness : 0.254115 Centerline is valid? [False, False] Translation: X:-12.24, Y:20.16, Z:15.44 [[ 9.99959478e-01 -7.99992622e-03 4.12829129e-03 -1.22431472e+01] [ 8.01520520e-03 9.99961040e-01 -3.69786692e-03 2.01626959e+01] [-4.09854779e-03 3.73080618e-03 9.99984641e-01 1.54424188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters Centerline goodness : 0.261829 Centerline is valid? [False, False] Translation: X:-12.23, Y:20.15, Z:15.44 [[ 9.99832927e-01 -1.82040711e-02 1.65238604e-03 -1.22263283e+01] [ 1.82203506e-02 9.99779498e-01 -1.04391011e-02 2.01499506e+01] [-1.46198755e-03 1.04674641e-02 9.99944146e-01 1.54424642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.174839173 meters Centerline goodness : 0.257853 Centerline is valid? [False, False] Translation: X:-12.22, Y:20.14, Z:15.44 [[ 9.99702741e-01 -2.43806050e-02 1.24093525e-04 -1.22184054e+01] [ 2.43803521e-02 9.99631710e-01 -1.19181634e-02 2.01409452e+01] [ 1.66524212e-04 1.19176461e-02 9.99928968e-01 1.54448581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters Centerline goodness : 0.268499 Centerline is valid? [False, False] Translation: X:-12.19, Y:20.13, Z:15.45 [[ 9.99497887e-01 -3.16631357e-02 1.19127884e-03 -1.21888503e+01] [ 3.16645681e-02 9.99497827e-01 -1.20337714e-03 2.01329531e+01] [-1.15257792e-03 1.24049424e-03 9.99998566e-01 1.54480605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.234839173 meters Centerline goodness : 0.266868 Centerline is valid? [False, False] Translation: X:-12.17, Y:20.14, Z:15.45 [[ 9.99523047e-01 -3.08224844e-02 1.91127608e-03 -1.21749302e+01] [ 3.08093376e-02 9.99503728e-01 6.56373806e-03 2.01399768e+01] [-2.11263829e-03 -6.50172232e-03 9.99976632e-01 1.54453804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.264839173 meters Centerline goodness : 0.264616 Centerline is valid? [False, False] Translation: X:-12.14, Y:20.16, Z:15.44 [[ 9.99571323e-01 -2.73538279e-02 1.04373718e-02 -1.21415269e+01] [ 2.69468543e-02 9.98939959e-01 3.73205887e-02 2.01600144e+01] [-1.14471687e-02 -3.70233358e-02 9.99248835e-01 1.54384809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6681.43 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%| | 0/2902 [00:00