+ python -m lidar_slam --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.15 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters Centerline goodness : 0.089673 Centerline is valid? [0, False] SLAMing on 0.04538475 meters Centerline goodness : 0.076507 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99994167e-01 -1.29856637e-03 -3.15902297e-03 1.20752074e-02] [ 1.30093273e-03 9.99998875e-01 7.47138969e-04 5.39191942e-05] [ 3.15804920e-03 -7.51244287e-04 9.99994731e-01 -1.78985395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.07538475 meters Centerline goodness : 0.093163 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.00 [[ 0.99998974 0.0028324 -0.00353438 0.04730215] [-0.00282061 0.99999045 0.00333777 -0.00400388] [ 0.0035438 -0.00332777 0.99998818 -0.00105273] [ 0. 0. 0. 1. ]] SLAMing on 0.10538475 meters Centerline goodness : 0.154297 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.00 [[ 9.99979825e-01 5.74943262e-03 -2.70051021e-03 8.02117234e-02] [-5.73827791e-03 9.99975047e-01 4.12033615e-03 -7.51074192e-03] [ 2.72413242e-03 -4.10475674e-03 9.99987865e-01 -4.00584038e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters Centerline goodness : 0.100685 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99978522e-01 3.89462833e-03 -5.27133234e-03 8.96342053e-02] [-3.86992752e-03 9.99981523e-01 4.68799298e-03 -8.19387991e-03] [ 5.28949293e-03 -4.66749262e-03 9.99975118e-01 3.15784302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16538475 meters Centerline goodness : 0.185862 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.00 [[ 0.99996923 0.00231808 -0.00749478 0.09823888] [-0.00227949 0.99998412 0.00515384 -0.00855255] [ 0.00750661 -0.00513659 0.99995863 0.00108966] [ 0. 0. 0. 1. ]] SLAMing on 0.19538475 meters Centerline goodness : 0.216384 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.00 [[ 9.99973732e-01 3.89256817e-03 -6.11414921e-03 1.29998593e-01] [-3.88055083e-03 9.99990518e-01 1.97613111e-03 -9.66380102e-03] [ 6.12178346e-03 -1.95235293e-03 9.99979356e-01 9.11493436e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22538475 meters Centerline goodness : 0.216854 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.00 [[ 9.99959977e-01 2.22868407e-03 -8.66469635e-03 1.39745481e-01] [-2.20597446e-03 9.99994109e-01 2.62960940e-03 -1.00426208e-02] [ 8.67050588e-03 -2.61039005e-03 9.99959003e-01 7.82497789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25538475 meters Centerline goodness : 0.234004 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.00 [[ 0.99995998 0.00409688 -0.00795296 0.17417009] [-0.00407391 0.99998749 0.00290171 -0.01581054] [ 0.00796475 -0.0028692 0.99996416 0.00124924] [ 0. 0. 0. 1. ]] SLAMing on 0.28538475 meters Centerline goodness : 0.241077 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.00 [[ 0.99997629 -0.00360098 -0.00586994 0.20357609] [ 0.00363855 0.99997288 0.00640272 -0.01484484] [ 0.00584673 -0.00642392 0.99996227 -0.00301166] [ 0. 0. 0. 1. ]] SLAMing on 0.31538475 meters Centerline goodness : 0.241736 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.00 [[ 0.99993965 -0.00553844 -0.00948802 0.21656408] [ 0.00561441 0.99995224 0.00799929 -0.01743113] [ 0.00944327 -0.00805207 0.99992299 -0.0024713 ] [ 0. 0. 0. 1. ]] SLAMing on 0.34538474999999996 meters Centerline goodness : 0.278854 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 0.9997982 -0.01859405 -0.00760387 0.24869489] [ 0.01867409 0.99976949 0.01059493 -0.02093672] [ 0.00740512 -0.01073479 0.99991496 -0.00306699] [ 0. 0. 0. 1. ]] SLAMing on 0.37538475 meters Centerline goodness : 0.282831 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.00 [[ 0.99970706 -0.02111552 -0.01182904 0.26262412] [ 0.02125749 0.99970193 0.01200718 -0.02362184] [ 0.01157198 -0.01225512 0.99985794 -0.00129852] [ 0. 0. 0. 1. ]] SLAMing on 0.40538475 meters Centerline goodness : 0.272777 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.00 [[ 9.99696179e-01 -2.27492999e-02 -9.48784717e-03 2.92787721e-01] [ 2.28423879e-02 9.99690838e-01 9.82110787e-03 -3.11417782e-02] [ 9.26149056e-03 -1.00348491e-02 9.99906759e-01 -4.89148612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43538475 meters Centerline goodness : 0.256418 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.00 [[ 9.99593776e-01 -2.51384763e-02 -1.34290923e-02 3.05862979e-01] [ 2.52814802e-02 9.99624307e-01 1.05873305e-02 -3.16222744e-02] [ 1.31578978e-02 -1.09225370e-02 9.99853773e-01 8.05167320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46538474999999996 meters Centerline goodness : 0.290050 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:-0.00 [[ 9.99701205e-01 -2.19848416e-02 -1.06849481e-02 3.35270509e-01] [ 2.21188676e-02 9.99676053e-01 1.25914439e-02 -3.64234819e-02] [ 1.04046658e-02 -1.28240205e-02 9.99863634e-01 -1.39981133e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49538475 meters Centerline goodness : 0.292005 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.00 [[ 0.99962058 -0.02380804 -0.01385172 0.34811329] [ 0.0239956 0.99962042 0.01353598 -0.03683174] [ 0.0135242 -0.01386323 0.99981244 -0.00128585] [ 0. 0. 0. 1. ]] SLAMing on 0.52538475 meters Centerline goodness : 0.270446 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:-0.00 [[ 0.99972943 -0.02044762 -0.01108879 0.37723633] [ 0.02061437 0.99967289 0.01513811 -0.04059375] [ 0.01077563 -0.0153626 0.99982392 -0.00139001] [ 0. 0. 0. 1. ]] SLAMing on 0.55538475 meters Centerline goodness : 0.261431 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.00 [[ 9.99625390e-01 -2.28348844e-02 -1.50880153e-02 3.90365964e-01] [ 2.30691881e-02 9.99613055e-01 1.55419736e-02 -3.94271657e-02] [ 1.47272779e-02 -1.58842197e-02 9.99765372e-01 -3.97824121e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853847499999999 meters Centerline goodness : 0.277015 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.04, Z:-0.00 [[ 0.99972013 -0.02086572 -0.011148 0.41628044] [ 0.02101436 0.99968955 0.01338684 -0.03958354] [ 0.01086521 -0.01361736 0.99984825 -0.00133616] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters Centerline goodness : 0.281661 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.00 [[ 9.99637846e-01 -2.30007503e-02 -1.39693000e-02 4.25913030e-01] [ 2.31845391e-02 9.99644841e-01 1.31403397e-02 -3.73163248e-02] [ 1.36621010e-02 -1.34594527e-02 9.99816078e-01 -6.87112914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.64538475 meters Centerline goodness : 0.292530 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99785677e-01 -1.86323500e-02 -9.02421901e-03 4.48457222e-01] [ 1.87555337e-02 9.99729359e-01 1.37636895e-02 -3.79746166e-02] [ 8.76532680e-03 -1.39299937e-02 9.99864553e-01 -1.64672147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6753847499999999 meters Centerline goodness : 0.292530 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99785677e-01 -1.86323500e-02 -9.02421901e-03 4.48457222e-01] [ 1.87555337e-02 9.99729359e-01 1.37636895e-02 -3.79746166e-02] [ 8.76532680e-03 -1.39299937e-02 9.99864553e-01 -1.64672147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053847499999999 meters Centerline goodness : 0.264081 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.00 [[ 9.99902798e-01 -1.34909580e-02 -3.51960716e-03 4.70188028e-01] [ 1.35406875e-02 9.99803031e-01 1.45103143e-02 -3.59955292e-02] [ 3.32315587e-03 -1.45565618e-02 9.99888525e-01 -4.23103305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7353847499999999 meters Centerline goodness : 0.261088 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.00 [[ 9.99859558e-01 -1.53303535e-02 -6.77084779e-03 4.80944979e-01] [ 1.54235614e-02 9.99783937e-01 1.39353407e-02 -3.14274911e-02] [ 6.55575116e-03 -1.40378142e-02 9.99879974e-01 -2.11966186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.76538475 meters Centerline goodness : 0.311586 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.00 [[ 0.99994852 -0.01008149 -0.00114573 0.50252005] [ 0.01009503 0.99987097 0.01249542 -0.02569055] [ 0.00101961 -0.01250634 0.99992127 -0.00395914] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters Centerline goodness : 0.314880 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.00 [[ 0.9999657 -0.00767563 -0.00311224 0.50951828] [ 0.00772376 0.99984599 0.01575888 -0.02220935] [ 0.0029908 -0.01578238 0.99987098 -0.00447394] [ 0. 0. 0. 1. ]] SLAMing on 0.8253847499999999 meters Centerline goodness : 0.304849 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.01, Z:-0.01 [[ 0.99994976 -0.00631387 -0.0077853 0.52637712] [ 0.00645422 0.99981469 0.01813639 -0.01305172] [ 0.00766934 -0.01818573 0.99980521 -0.00625562] [ 0. 0. 0. 1. ]] SLAMing on 0.8553847499999999 meters Centerline goodness : 0.297549 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.01 [[ 0.99991303 -0.00766899 -0.01072947 0.53726554] [ 0.00785651 0.99981519 0.0175462 -0.00811943] [ 0.01059293 -0.01762897 0.99978848 -0.00765318] [ 0. 0. 0. 1. ]] SLAMing on 0.8853847499999999 meters Centerline goodness : 0.232259 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.01 [[ 0.9999787 -0.00341791 -0.00556013 0.56259956] [ 0.00351143 0.99985105 0.01689819 -0.00424514] [ 0.00550155 -0.01691736 0.99984176 -0.01051953] [ 0. 0. 0. 1. ]] SLAMing on 0.9153847499999999 meters Centerline goodness : 0.221399 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.00, Z:-0.01 [[ 9.99949342e-01 -5.11276643e-03 -8.67028775e-03 5.74212978e-01] [ 5.25608775e-03 9.99848582e-01 1.65887491e-02 -3.30988155e-04] [ 8.58416052e-03 -1.66334806e-02 9.99824804e-01 -1.12552104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9453847499999999 meters Centerline goodness : 0.231901 Centerline is valid? [False, False] Translation: X:0.61, Y:0.00, Z:-0.01 [[ 0.9999841 -0.00296516 -0.0047973 0.60568131] [ 0.00304271 0.99986352 0.0162384 0.00302113] [ 0.0047485 -0.01625274 0.99985664 -0.01432742] [ 0. 0. 0. 1. ]] SLAMing on 0.9753847499999999 meters Centerline goodness : 0.224754 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.02 [[ 9.99998141e-01 -1.71119831e-03 -8.88542026e-04 6.41153765e-01] [ 1.72752792e-03 9.99823376e-01 1.87145239e-02 5.06800226e-03] [ 8.56360826e-04 -1.87160241e-02 9.99824473e-01 -1.52414049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.00538475 meters Centerline goodness : 0.269407 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.01 [[ 0.99995862 -0.00240727 -0.0087729 0.66295922] [ 0.00257628 0.99981032 0.01930504 0.0051953 ] [ 0.00872477 -0.01932684 0.99977515 -0.00818432] [ 0. 0. 0. 1. ]] SLAMing on 1.03538475 meters Centerline goodness : 0.192970 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.01 [[ 0.99998565 -0.0033507 -0.00417954 0.693686 ] [ 0.00341996 0.99985511 0.01667551 0.00773985] [ 0.00412306 -0.01668956 0.99985222 -0.00949781] [ 0. 0. 0. 1. ]] SLAMing on 1.06538475 meters Centerline goodness : 0.223998 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.00 [[ 0.99993302 -0.00412346 -0.01081466 0.71235698] [ 0.00430974 0.99984178 0.01725836 0.00800037] [ 0.01074178 -0.01730381 0.99979257 -0.00370385] [ 0. 0. 0. 1. ]] SLAMing on 1.09538475 meters Centerline goodness : 0.262708 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.01 [[ 0.99998385 -0.00152016 -0.00547664 0.73932412] [ 0.00161493 0.99984829 0.01734332 0.01007082] [ 0.00544944 -0.01735189 0.99983459 -0.0050127 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1253847499999998 meters Centerline goodness : 0.176573 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.01 [[ 0.99996684 -0.00259134 -0.00772047 0.74827686] [ 0.00272248 0.99985137 0.01702431 0.01429053] [ 0.0076752 -0.01704476 0.99982527 -0.00598257] [ 0. 0. 0. 1. ]] SLAMing on 1.1553847499999998 meters Centerline goodness : 0.317354 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.01 [[ 9.99994718e-01 3.18921571e-03 -6.27243815e-04 7.68690744e-01] [-3.17866254e-03 9.99864339e-01 1.61616676e-02 2.00637121e-02] [ 6.78701767e-04 -1.61595884e-02 9.99869195e-01 -1.15642031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1853847499999999 meters Centerline goodness : 0.296620 Centerline is valid? [False, False] Translation: X:0.78, Y:0.03, Z:-0.01 [[ 0.99997513 0.00605696 -0.00361302 0.78186539] [-0.00598347 0.99978174 0.02001672 0.0268762 ] [ 0.00373347 -0.0199946 0.99979312 -0.01376615] [ 0. 0. 0. 1. ]] SLAMing on 1.21538475 meters Centerline goodness : 0.313351 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.02 [[ 0.99997512 0.00523069 -0.00473196 0.78731457] [-0.00513826 0.99979976 0.01934009 0.03089991] [ 0.00483217 -0.0193153 0.99980177 -0.01550521] [ 0. 0. 0. 1. ]] SLAMing on 1.24538475 meters Centerline goodness : 0.284213 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.01 [[ 0.99994658 0.00727955 -0.00733828 0.79700834] [-0.00710832 0.99970799 0.0230958 0.03499901] [ 0.00750426 -0.02304241 0.99970632 -0.01474047] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters Centerline goodness : 0.215629 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.02 [[ 0.99994386 0.006179 -0.008608 0.80230836] [-0.00598293 0.99972623 0.0226203 0.03789356] [ 0.00874542 -0.02256753 0.99970707 -0.01539504] [ 0. 0. 0. 1. ]] SLAMing on 1.30538475 meters Centerline goodness : 0.159702 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.02 [[ 0.99992557 0.00452025 -0.01133266 0.81464662] [-0.00426228 0.99973356 0.02268554 0.03978242] [ 0.01143218 -0.02263555 0.99967842 -0.017719 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3353847499999998 meters Centerline goodness : 0.171208 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.02 [[ 0.9999141 0.00342654 -0.01265122 0.82079377] [-0.00313879 0.9997375 0.02269535 0.04079441] [ 0.01272566 -0.02265369 0.99966238 -0.01884909] [ 0. 0. 0. 1. ]] SLAMing on 1.3653847499999998 meters Centerline goodness : 0.273816 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.02 [[ 0.99985178 0.00535323 -0.01636351 0.83609543] [-0.00488043 0.99957333 0.02879839 0.03959919] [ 0.01651069 -0.02871426 0.99945129 -0.01775709] [ 0. 0. 0. 1. ]] SLAMing on 1.3953847499999998 meters Centerline goodness : 0.172135 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.03 [[ 0.99997493 0.006543 -0.00270836 0.84043766] [-0.00647177 0.99965335 0.02552068 0.04087533] [ 0.0028744 -0.02550252 0.99967063 -0.02988577] [ 0. 0. 0. 1. ]] SLAMing on 1.4253847499999999 meters Centerline goodness : 0.170332 Centerline is valid? [False, False] Translation: X:0.87, Y:0.04, Z:-0.03 [[ 0.99994007 0.01012747 0.00415886 0.86600581] [-0.01023375 0.99959949 0.02638431 0.03889252] [-0.00388999 -0.02642529 0.99964322 -0.03477699] [ 0. 0. 0. 1. ]] SLAMing on 1.45538475 meters Centerline goodness : 0.167219 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.04 [[ 0.99986514 0.01168353 0.01154079 0.88872784] [-0.01195606 0.99964441 0.02383482 0.03830551] [-0.01125821 -0.02396958 0.99964929 -0.03941658] [ 0. 0. 0. 1. ]] SLAMing on 1.48538475 meters Centerline goodness : 0.163234 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.03 [[ 0.99989978 0.01314348 0.00526013 0.9049987 ] [-0.01326776 0.99961584 0.0243337 0.03560527] [-0.00493828 -0.02440105 0.99969005 -0.03197403] [ 0. 0. 0. 1. ]] SLAMing on 1.51538475 meters Centerline goodness : 0.129208 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.03 [[ 0.99990765 0.01305632 0.00377038 0.91009174] [-0.01314609 0.99960457 0.02485735 0.03639646] [-0.00344434 -0.02490462 0.9996839 -0.03127915] [ 0. 0. 0. 1. ]] SLAMing on 1.54538475 meters Centerline goodness : 0.193706 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.9998559 0.01668153 0.00314681 0.91610972] [-0.01677129 0.99937681 0.03105985 0.03617211] [-0.00262672 -0.03110815 0.99951257 -0.02712463] [ 0. 0. 0. 1. ]] SLAMing on 1.57538475 meters Centerline goodness : 0.196342 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.99985749 0.0167632 0.00199874 0.92023116] [-0.01681753 0.99936935 0.0312742 0.03713361] [-0.00147322 -0.03130336 0.99950884 -0.02705781] [ 0. 0. 0. 1. ]] SLAMing on 1.6053847499999998 meters Centerline goodness : 0.197433 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.02 [[ 0.99977907 0.02040901 -0.00502859 0.94068036] [-0.02024331 0.99931278 0.03105116 0.0343112 ] [ 0.00565886 -0.0309425 0.99950515 -0.02204126] [ 0. 0. 0. 1. ]] SLAMing on 1.6353847499999998 meters Centerline goodness : 0.209351 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.02 [[ 0.99977657 0.02027294 -0.00598451 0.9446919 ] [-0.02007755 0.99931527 0.03107854 0.03473549] [ 0.00661047 -0.03095145 0.99949903 -0.02277721] [ 0. 0. 0. 1. ]] SLAMing on 1.6653847499999999 meters Centerline goodness : 0.192985 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.02 [[ 0.99975199 0.02091193 -0.00765831 0.95336977] [-0.02065011 0.99924848 0.03280314 0.03301618] [ 0.00833853 -0.03263686 0.99943249 -0.02383925] [ 0. 0. 0. 1. ]] SLAMing on 1.6953847499999999 meters Centerline goodness : 0.251219 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.03 [[ 0.99980026 0.01781748 -0.00905457 0.96063344] [-0.01753309 0.99937875 0.03057281 0.02967778] [ 0.00959368 -0.03040795 0.99949153 -0.02522878] [ 0. 0. 0. 1. ]] SLAMing on 1.72538475 meters Centerline goodness : 0.184856 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.04 [[ 0.99987397 0.01511654 0.00485176 0.96419672] [-0.01522994 0.99958974 0.02425702 0.02894893] [-0.00448309 -0.02432785 0.99969398 -0.03857477] [ 0. 0. 0. 1. ]] SLAMing on 1.75538475 meters Centerline goodness : 0.215248 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.04 [[ 0.99994029 0.0103239 0.00358262 0.97449562] [-0.01040365 0.99968121 0.02300539 0.02112987] [-0.00334397 -0.02304129 0.99972892 -0.0413131 ] [ 0. 0. 0. 1. ]] SLAMing on 1.78538475 meters Centerline goodness : 0.206135 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:-0.04 [[ 0.99997362 0.00642123 0.00339591 0.97870832] [-0.00648816 0.99977737 0.02007776 0.01705561] [-0.00326623 -0.02009927 0.99979265 -0.04445876] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters Centerline goodness : 0.179263 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.05 [[ 9.99997572e-01 8.50248637e-04 2.03323022e-03 9.91122297e-01] [-8.90391848e-04 9.99803072e-01 1.98248511e-02 6.75606824e-03] [-2.01597377e-03 -1.98266133e-02 9.99801401e-01 -4.67399865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8453847499999998 meters Centerline goodness : 0.155131 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.04 [[ 0.99999469 0.0010779 -0.00307441 1.00594056] [-0.00102653 0.99986067 0.01666096 -0.00130603] [ 0.00309194 -0.01665771 0.99985647 -0.04366171] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters Centerline goodness : 0.183438 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.04 [[ 0.99996896 -0.00666879 -0.00419587 1.01474526] [ 0.00671884 0.99990509 0.01202755 -0.00931585] [ 0.00411526 -0.01205537 0.99991886 -0.04466393] [ 0. 0. 0. 1. ]] SLAMing on 1.9053847499999998 meters Centerline goodness : 0.219229 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.04 [[ 0.99993347 -0.01049951 -0.004777 1.01708119] [ 0.0105434 0.99990157 0.00925655 -0.01389249] [ 0.00467935 -0.0093063 0.99994575 -0.04410942] [ 0. 0. 0. 1. ]] SLAMing on 1.9353847499999999 meters Centerline goodness : 0.203597 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.02, Z:-0.04 [[ 0.9997919 -0.01970896 -0.005265 1.0265052 ] [ 0.01973934 0.99978844 0.00578251 -0.02196037] [ 0.00514991 -0.00588524 0.99996942 -0.04287896] [ 0. 0. 0. 1. ]] SLAMing on 1.96538475 meters Centerline goodness : 0.209529 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:-0.04 [[ 0.99970538 -0.02361017 -0.00563134 1.02824094] [ 0.02362766 0.99971615 0.00305993 -0.02576287] [ 0.00555749 -0.00319208 0.99997946 -0.04202972] [ 0. 0. 0. 1. ]] SLAMing on 1.99538475 meters Centerline goodness : 0.257564 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:-0.04 [[ 0.99955109 -0.02944422 -0.00553694 1.03182595] [ 0.02946321 0.99956015 0.00337977 -0.03374621] [ 0.00543499 -0.00354139 0.99997896 -0.03582569] [ 0. 0. 0. 1. ]] SLAMing on 2.0253847499999997 meters Centerline goodness : 0.191176 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:-0.04 [[ 9.99424304e-01 -3.34126310e-02 -5.88703988e-03 1.03318525e+00] [ 3.34123933e-02 9.99441640e-01 -1.38735669e-04 -3.55934618e-02] [ 5.88838832e-03 -5.80442932e-05 9.99982662e-01 -3.53847667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05538475 meters Centerline goodness : 0.165367 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:-0.03 [[ 0.99939274 -0.03424634 -0.00643022 1.03590362] [ 0.0342605 0.99941072 0.00210584 -0.04084778] [ 0.00635431 -0.00232487 0.99997711 -0.03247321] [ 0. 0. 0. 1. ]] SLAMing on 2.08538475 meters Centerline goodness : 0.177586 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.03 [[ 9.99490058e-01 -2.95446883e-02 -1.21134523e-02 1.05286227e+00] [ 2.95506853e-02 9.99563233e-01 3.16344375e-04 -4.52157083e-02] [ 1.20988152e-02 -6.74143874e-04 9.99926579e-01 -3.01152638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11538475 meters Centerline goodness : 0.178671 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.03 [[ 9.99497066e-01 -2.92185709e-02 -1.23243440e-02 1.05341733e+00] [ 2.92211228e-02 9.99572971e-01 2.70085178e-05 -4.49956400e-02] [ 1.23182920e-02 -3.87126105e-04 9.99924052e-01 -3.09299296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.14538475 meters Centerline goodness : 0.184594 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959026 -0.02543807 -0.01312318 1.0559809 ] [ 0.02549595 0.99966584 0.00426159 -0.04586301] [ 0.01301038 -0.00459443 0.99990481 -0.0311461 ] [ 0. 0. 0. 1. ]] SLAMing on 2.17538475 meters Centerline goodness : 0.188670 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959202 -0.02525538 -0.01334016 1.05670165] [ 0.02531097 0.99967156 0.00401479 -0.04582395] [ 0.01323439 -0.00435081 0.99990296 -0.03200138] [ 0. 0. 0. 1. ]] SLAMing on 2.20538475 meters Centerline goodness : 0.203865 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959074 -0.02513271 -0.01366394 1.05784115] [ 0.02519429 0.9996731 0.00435318 -0.0476658 ] [ 0.01355007 -0.00469565 0.99989717 -0.0321872 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2353847499999997 meters Centerline goodness : 0.204610 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99957776 -0.02545728 -0.01400801 1.05923351] [ 0.02552433 0.99966349 0.00462876 -0.04864369] [ 0.01388546 -0.00498435 0.99989117 -0.03218143] [ 0. 0. 0. 1. ]] SLAMing on 2.26538475 meters Centerline goodness : 0.216074 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99955693 -0.02610851 -0.0142929 1.06139854] [ 0.02618887 0.99964208 0.0054647 -0.05173435] [ 0.01414511 -0.0058366 0.99988292 -0.03211921] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters Centerline goodness : 0.222720 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.9995403 -0.02655414 -0.01463128 1.06294341] [ 0.02664645 0.999626 0.00615091 -0.05394332] [ 0.01446248 -0.00653795 0.99987404 -0.03182454] [ 0. 0. 0. 1. ]] SLAMing on 2.32538475 meters Centerline goodness : 0.279056 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.03 [[ 0.99941198 -0.03107221 -0.01449879 1.06423495] [ 0.03112032 0.99951082 0.00310445 -0.05700941] [ 0.01439524 -0.00355383 0.99989007 -0.03151297] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters Centerline goodness : 0.296450 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.03 [[ 0.99939229 -0.03174841 -0.01439032 1.06436149] [ 0.03184105 0.99947337 0.00625485 -0.06016506] [ 0.01418416 -0.00670925 0.99987689 -0.02571549] [ 0. 0. 0. 1. ]] SLAMing on 2.38538475 meters Centerline goodness : 0.286507 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.02 [[ 0.99939857 -0.03156888 -0.01434917 1.06340752] [ 0.03167588 0.9994716 0.0072914 -0.0605666 ] [ 0.01411141 -0.00774154 0.99987046 -0.0231403 ] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters Centerline goodness : 0.268403 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.10 [[ 0.99927668 0.02403303 -0.02947089 0.93435385] [-0.02060375 0.99353972 0.1115989 -0.10859383] [ 0.03196256 -0.11091097 0.99331624 0.10057186] [ 0. 0. 0. 1. ]] SLAMing on 2.4453847499999997 meters Centerline goodness : 0.264250 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.17, Z:-0.01 [[ 0.99924335 0.0385714 -0.0049968 1.02931754] [-0.0382249 0.99764483 0.0569531 -0.16617481] [ 0.00718179 -0.056719 0.99836435 -0.01105635] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters Centerline goodness : 0.282962 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.16, Z:-0.01 [[ 0.9994214 0.0336154 -0.00518366 1.03112442] [-0.03331011 0.99815948 0.0506763 -0.16209862] [ 0.00687762 -0.05047431 0.99870168 -0.01456964] [ 0. 0. 0. 1. ]] SLAMing on 2.5053847499999997 meters Centerline goodness : 0.274861 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.16, Z:-0.02 [[ 0.99955364 0.02940092 -0.00530186 1.03173915] [-0.02913655 0.99858559 0.04447338 -0.15917064] [ 0.00660192 -0.04429905 0.9989965 -0.01807123] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters Centerline goodness : 0.265820 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.9997417 0.02200297 -0.00569206 1.03202517] [-0.02181057 0.99925296 0.03190343 -0.15310038] [ 0.00638977 -0.03177104 0.99947475 -0.02531996] [ 0. 0. 0. 1. ]] SLAMing on 2.5653847499999998 meters Centerline goodness : 0.256098 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.99982328 0.0176622 -0.00643809 1.03339502] [-0.01749974 0.99954733 0.02447222 -0.14810591] [ 0.00686741 -0.02435523 0.99967978 -0.02963594] [ 0. 0. 0. 1. ]] SLAMing on 2.59538475 meters Centerline goodness : 0.256098 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.99987471 0.01458344 -0.00615507 1.03231123] [-0.01445498 0.99968695 0.02042208 -0.14601295] [ 0.00645096 -0.02033055 0.9997725 -0.0300034 ] [ 0. 0. 0. 1. ]] SLAMing on 2.62538475 meters Centerline goodness : 0.250881 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.14, Z:-0.04 [[ 0.99991917 0.01090934 -0.00653039 1.03268856] [-0.0108246 0.99985852 0.01287497 -0.14133773] [ 0.00666992 -0.01280324 0.99989579 -0.03504684] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters Centerline goodness : 0.229654 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.14, Z:-0.04 [[ 0.99992296 0.01019446 -0.00708113 1.03472588] [-0.01012649 0.99990293 0.0095701 -0.13644849] [ 0.00717801 -0.00949766 0.99992913 -0.03972941] [ 0. 0. 0. 1. ]] SLAMing on 2.68538475 meters Centerline goodness : 0.235880 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99992873 0.00914342 -0.00767625 1.03725249] [-0.00908279 0.99992757 0.00789709 -0.13414535] [ 0.00774791 -0.00782681 0.99993935 -0.04238275] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters Centerline goodness : 0.215216 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.05 [[ 0.99993488 0.00761518 -0.00849963 1.04081086] [-0.00756823 0.999956 0.00554272 -0.13108681] [ 0.00854146 -0.00547804 0.99994852 -0.04622628] [ 0. 0. 0. 1. ]] SLAMing on 2.74538475 meters Centerline goodness : 0.205594 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.05 [[ 0.99993472 0.00701248 -0.00902156 1.04220745] [-0.00696806 0.99996349 0.00494615 -0.13008253] [ 0.00905592 -0.00488297 0.99994707 -0.04675019] [ 0. 0. 0. 1. ]] SLAMing on 2.7753847499999997 meters Centerline goodness : 0.545393 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99993562 0.00718996 -0.00877833 1.04111425] [-0.00713724 0.99995639 0.0060223 -0.12952878] [ 0.00882125 -0.00595926 0.99994333 -0.04385977] [ 0. 0. 0. 1. ]] SLAMing on 2.80538475 meters Centerline goodness : 0.859263 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99991814 0.00881144 -0.00927729 1.04454237] [-0.00868263 0.9998666 0.01383432 -0.13199349] [ 0.00939795 -0.01375264 0.99986126 -0.03711251] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters Centerline goodness : 0.951243 Centerline is valid? [False, True] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 0.99995184 0.00595628 -0.0077998 1.05386812] [-0.00577068 0.9997047 0.02360525 -0.13336269] [ 0.0079381 -0.0235591 0.99969093 -0.02757866] [ 0. 0. 0. 1. ]] SLAMing on 2.86538475 meters Centerline goodness : 0.909091 Centerline is valid? [True, False] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 0.99997112 0.00158958 -0.0074318 1.05338745] [-0.00144803 0.99981817 0.01901404 -0.12851134] [ 0.00746067 -0.01900273 0.9997916 -0.02708623] [ 0. 0. 0. 1. ]] SLAMing on 2.89538475 meters Centerline goodness : 0.907581 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 9.99967414e-01 7.79216715e-04 -8.03513880e-03 1.05465466e+00] [-6.29521511e-04 9.99826513e-01 1.86157996e-02 -1.26607143e-01] [ 8.04825055e-03 -1.86101347e-02 9.99794423e-01 -2.64865529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9253847499999996 meters Centerline goodness : 0.946495 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.03 [[ 9.99966354e-01 3.93874851e-04 -8.19360853e-03 1.05473479e+00] [-2.52597312e-04 9.99851412e-01 1.72363022e-02 -1.21751075e-01] [ 8.19918001e-03 -1.72336526e-02 9.99817871e-01 -2.65968364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.95538475 meters Centerline goodness : 0.944016 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.03 [[ 9.99965110e-01 1.84144094e-05 -8.35335557e-03 1.05541477e+00] [ 1.09002891e-04 9.99883665e-01 1.52527154e-02 -1.17190743e-01] [ 8.35266464e-03 -1.52530937e-02 9.99848777e-01 -2.85777713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9853847499999997 meters Centerline goodness : 0.941292 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.03 [[ 0.99995363 0.00283796 -0.00920253 1.05796588] [-0.00269716 0.99987968 0.01527599 -0.10817484] [ 0.00924477 -0.01525046 0.99984097 -0.03262556] [ 0. 0. 0. 1. ]] SLAMing on 3.01538475 meters Centerline goodness : 0.940646 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.03 [[ 0.99995228 0.00264053 -0.00940551 1.0585063 ] [-0.00251601 0.99990936 0.01322684 -0.1031998 ] [ 0.00943958 -0.01320255 0.99986828 -0.03450489] [ 0. 0. 0. 1. ]] SLAMing on 3.0453847499999998 meters Centerline goodness : 0.939392 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.04 [[ 0.99994936 0.00286974 -0.00964549 1.05822274] [-0.00276421 0.99993637 0.01093674 -0.09624382] [ 0.00967626 -0.01090953 0.99989367 -0.03563679] [ 0. 0. 0. 1. ]] SLAMing on 3.07538475 meters Centerline goodness : 0.939428 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:-0.04 [[ 0.99994709 0.00245797 -0.00998882 1.05907097] [-0.00236587 0.99995468 0.00922149 -0.09214953] [ 0.01001103 -0.00919737 0.99990759 -0.03696992] [ 0. 0. 0. 1. ]] SLAMing on 3.10538475 meters Centerline goodness : 0.938445 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.04 [[ 0.99992901 0.00471075 -0.01094433 1.06238965] [-0.00460321 0.99994109 0.00983016 -0.08440666] [ 0.01099 -0.00977909 0.99989179 -0.04010115] [ 0. 0. 0. 1. ]] SLAMing on 3.13538475 meters Centerline goodness : 0.935796 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.04 [[ 0.99992856 0.00399081 -0.0112675 1.06376665] [-0.00389944 0.99995943 0.00811993 -0.08016401] [ 0.01129945 -0.00807542 0.99990355 -0.04178336] [ 0. 0. 0. 1. ]] SLAMing on 3.16538475 meters Centerline goodness : 0.935185 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.9999249 0.00358676 -0.01171835 1.06454895] [-0.00351044 0.99997254 0.00652686 -0.07434685] [ 0.01174143 -0.00648523 0.99991004 -0.04232299] [ 0. 0. 0. 1. ]] SLAMing on 3.1953847499999997 meters Centerline goodness : 0.936300 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.99992455 0.00349798 -0.01177525 1.06440261] [-0.00343083 0.99997777 0.00571799 -0.07173066] [ 0.01179499 -0.00567716 0.99991432 -0.04238989] [ 0. 0. 0. 1. ]] SLAMing on 3.22538475 meters Centerline goodness : 0.937663 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.99992023 0.00395404 -0.01199581 1.0638094 ] [-0.00389735 0.99998115 0.00474498 -0.06563989] [ 0.01201435 -0.00469785 0.99991679 -0.04192799] [ 0. 0. 0. 1. ]] SLAMing on 3.2553847499999997 meters Centerline goodness : 0.938490 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.04 [[ 0.99989463 0.00718684 -0.0126125 1.06478302] [-0.00708918 0.99994467 0.00777114 -0.06077631] [ 0.01266765 -0.00768091 0.99989026 -0.04111829] [ 0. 0. 0. 1. ]] SLAMing on 3.28538475 meters Centerline goodness : 0.941315 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.04 [[ 0.99989382 0.00678772 -0.012895 1.06521191] [-0.00669957 0.99995398 0.00686693 -0.05775891] [ 0.01294101 -0.00677981 0.99989328 -0.04119143] [ 0. 0. 0. 1. ]] SLAMing on 3.3153847499999998 meters Centerline goodness : 0.944479 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99993222e-01 3.60126854e-03 7.65891570e-04 1.06615578e+00] [-3.60219878e-03 9.99992772e-01 1.21668842e-03 -5.10927079e-02] [-7.61504412e-04 -1.21943906e-03 9.99998967e-01 -4.75742475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34538475 meters Centerline goodness : 0.947415 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99995922e-01 2.83549211e-03 3.40627442e-04 1.06705876e+00] [-2.83571495e-03 9.99995765e-01 6.55505304e-04 -4.92509798e-02] [-3.38767319e-04 -6.56468554e-04 9.99999727e-01 -4.72874196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37538475 meters Centerline goodness : 0.949405 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99998191e-01 1.89698550e-03 1.38959398e-04 1.06752578e+00] [-1.89701510e-03 9.99998178e-01 2.13190641e-04 -4.61660063e-02] [-1.38554725e-04 -2.13453864e-04 9.99999968e-01 -4.63232779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4053847499999996 meters Centerline goodness : 0.950726 Centerline is valid? [False, True] Translation: X:1.07, Y:-0.04, Z:-0.05 [[ 9.99999265e-01 1.21154519e-03 -4.87450019e-05 1.06832058e+00] [-1.21157071e-03 9.99999127e-01 -5.27129995e-04 -4.38905239e-02] [ 4.81063175e-05 5.27188665e-04 9.99999860e-01 -4.66575370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43538475 meters Centerline goodness : 0.948993 Centerline is valid? [True, False] Translation: X:1.07, Y:-0.04, Z:-0.05 [[ 9.99999936e-01 3.57138594e-04 2.29487062e-05 1.06874208e+00] [-3.57093010e-04 9.99998022e-01 -1.95654613e-03 -3.88606300e-02] [-2.36474189e-05 1.95653781e-03 9.99998086e-01 -4.72184311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4653847499999997 meters Centerline goodness : 0.949674 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.05 [[ 9.99994701e-01 3.13576699e-03 -8.75083422e-04 1.07070178e+00] [-3.13396344e-03 9.99992978e-01 2.05481674e-03 -3.87084956e-02] [ 8.81520703e-04 -2.05206337e-03 9.99997506e-01 -4.62720307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49538475 meters Centerline goodness : 0.950058 Centerline is valid? [False, True] Translation: X:1.07, Y:-0.03, Z:-0.05 [[ 9.99996324e-01 2.29034479e-03 -1.45105076e-03 1.07214527e+00] [-2.28971638e-03 9.99997284e-01 4.34590178e-04 -3.47100281e-02] [ 1.45204218e-03 -4.31266086e-04 9.99998853e-01 -4.69963444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5253847499999997 meters Centerline goodness : 0.948519 Centerline is valid? [True, False] Translation: X:1.07, Y:-0.03, Z:-0.05 [[ 9.99996769e-01 1.71853334e-03 -1.87300411e-03 1.07362610e+00] [-1.71994113e-03 9.99998239e-01 -7.50268670e-04 -3.20272860e-02] [ 1.87171145e-03 7.53487703e-04 9.99997964e-01 -4.82455669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.55538475 meters Centerline goodness : 0.946452 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.05 [[ 9.99990537e-01 2.92423948e-03 -3.22107630e-03 1.07959003e+00] [-2.92384357e-03 9.99995717e-01 1.27613117e-04 -2.57926439e-02] [ 3.22143568e-03 -1.18193986e-04 9.99994804e-01 -5.25080370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58538475 meters Centerline goodness : 0.945354 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.05 [[ 0.99997811 0.00478349 -0.00457239 1.08408311] [-0.00477081 0.99998475 0.00278074 -0.02433012] [ 0.00458562 -0.00275886 0.99998568 -0.05422705] [ 0. 0. 0. 1. ]] SLAMing on 3.6153847499999996 meters Centerline goodness : 0.943611 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.06 [[ 0.99997938 0.00341918 -0.0054356 1.08658057] [-0.00341225 0.99999336 0.001283 -0.02139831] [ 0.00543995 -0.00126443 0.9999844 -0.05525355] [ 0. 0. 0. 1. ]] SLAMing on 3.64538475 meters Centerline goodness : 0.941265 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.05 [[ 9.99977202e-01 2.66989593e-03 -6.20211315e-03 1.08784262e+00] [-2.66318418e-03 9.99995859e-01 1.09017952e-03 -2.10844766e-02] [ 6.20499814e-03 -1.07363729e-03 9.99980172e-01 -5.45337107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6753847499999996 meters Centerline goodness : 0.944443 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.05 [[ 9.99974373e-01 1.16527733e-03 -7.06365107e-03 1.08909593e+00] [-1.15892670e-03 9.99998921e-01 9.03084898e-04 -1.92326012e-02] [ 7.06469579e-03 -8.94875501e-04 9.99974644e-01 -5.25544538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70538475 meters Centerline goodness : 0.946204 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:-0.05 [[ 9.99971995e-01 -3.86421148e-04 -7.47388908e-03 1.09028806e+00] [ 3.86405669e-04 9.99999925e-01 -3.51507672e-06 -1.42634097e-02] [ 7.47388988e-03 6.27025168e-07 9.99972070e-01 -5.18570890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353847499999997 meters Centerline goodness : 0.944705 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:-0.05 [[ 9.99971715e-01 -7.41112446e-04 -7.48465053e-03 1.09002924e+00] [ 7.37091507e-04 9.99999583e-01 -5.39968913e-04 -1.10736310e-02] [ 7.48504759e-03 5.34436767e-04 9.99971844e-01 -5.12117095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.76538475 meters Centerline goodness : 0.945017 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:-0.05 [[ 9.99974080e-01 -5.95237924e-04 -7.17525350e-03 1.08758051e+00] [ 5.87869411e-04 9.99999298e-01 -1.02899947e-03 -5.37612446e-03] [ 7.17586096e-03 1.02475468e-03 9.99973728e-01 -4.82753595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7953847499999998 meters Centerline goodness : 0.940516 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.00, Z:-0.05 [[ 9.99974404e-01 -5.76289771e-04 -7.13159335e-03 1.08665482e+00] [ 5.66458900e-04 9.99998887e-01 -1.38043876e-03 -2.30299537e-03] [ 7.13238095e-03 1.37636367e-03 9.99973617e-01 -4.69144907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.82538475 meters Centerline goodness : 0.939404 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:-0.05 [[ 9.99968547e-01 2.00979055e-03 -7.67244523e-03 1.08818728e+00] [-2.00718858e-03 9.99997925e-01 3.46816292e-04 6.57526414e-03] [ 7.67312634e-03 -3.31405339e-04 9.99970506e-01 -4.71165896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85538475 meters Centerline goodness : 0.938238 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:-0.05 [[ 0.99995463 0.00475717 -0.00825286 1.0901702 ] [-0.0047356 0.99998533 0.00263046 0.01149732] [ 0.00826526 -0.00259126 0.99996248 -0.04806705] [ 0. 0. 0. 1. ]] SLAMing on 3.8853847499999996 meters Centerline goodness : 0.931404 Centerline is valid? [False, False] Translation: X:1.09, Y:0.02, Z:-0.05 [[ 0.99993566 0.00751288 -0.00849906 1.09155574] [-0.00748009 0.99996448 0.00388424 0.02146405] [ 0.00852794 -0.00382042 0.99995634 -0.04908248] [ 0. 0. 0. 1. ]] SLAMing on 3.91538475 meters Centerline goodness : 0.931800 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:-0.05 [[ 0.99993671 0.00733135 -0.00853363 1.0914742 ] [-0.00731008 0.9999701 0.00252106 0.02590395] [ 0.00855186 -0.00245852 0.99996041 -0.0492433 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9453847499999997 meters Centerline goodness : 0.927348 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:-0.05 [[ 0.99990411 0.01068953 -0.00880324 1.09188909] [-0.01064868 0.99993238 0.00467371 0.03146333] [ 0.0088526 -0.00457952 0.99995033 -0.04912217] [ 0. 0. 0. 1. ]] SLAMing on 3.97538475 meters Centerline goodness : 0.925378 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.05 [[ 0.9999102 0.00984417 -0.00909312 1.09362874] [-0.00981922 0.99994791 0.0027853 0.03709716] [ 0.00912006 -0.00269576 0.99995478 -0.0508915 ] [ 0. 0. 0. 1. ]] SLAMing on 4.00538475 meters Centerline goodness : 0.922353 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.05 [[ 0.9998723 0.01319637 -0.00901378 1.09602566] [-0.01315172 0.99990103 0.00499546 0.04600668] [ 0.00907881 -0.00487627 0.9999469 -0.05367334] [ 0. 0. 0. 1. ]] SLAMing on 4.0353847499999995 meters Centerline goodness : 0.917809 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.05 [[ 0.99981971 0.01631019 -0.00972278 1.09780651] [-0.01623407 0.99983735 0.00785682 0.04882774] [ 0.00984934 -0.00769756 0.99992187 -0.054029 ] [ 0. 0. 0. 1. ]] SLAMing on 4.06538475 meters Centerline goodness : 0.916734 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.05 [[ 0.99972385 0.02124193 -0.01005018 1.09713435] [-0.02113319 0.99971828 0.01080525 0.05484934] [ 0.01027687 -0.01058987 0.99989111 -0.05283052] [ 0. 0. 0. 1. ]] SLAMing on 4.09538475 meters Centerline goodness : 0.916600 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.05 [[ 0.99950403 0.02982659 -0.01010315 1.09545666] [-0.0296408 0.99939735 0.01806529 0.05940092] [ 0.01063589 -0.01775687 0.99978576 -0.05037051] [ 0. 0. 0. 1. ]] SLAMing on 4.125384749999999 meters Centerline goodness : 0.915154 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:-0.05 [[ 0.99946899 0.03104613 -0.0098929 1.09445472] [-0.03086627 0.99936425 0.01784312 0.06397238] [ 0.01044057 -0.01752829 0.99979186 -0.05008088] [ 0. 0. 0. 1. ]] SLAMing on 4.15538475 meters Centerline goodness : 0.918317 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99916798 0.04020087 -0.00687357 1.10212017] [-0.04011597 0.9991221 0.01207261 0.06795418] [ 0.00735287 -0.01178682 0.9999035 -0.05317316] [ 0. 0. 0. 1. ]] SLAMing on 4.18538475 meters Centerline goodness : 0.915574 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99916154 0.04036766 -0.00683217 1.10188421] [-0.04028709 0.99912144 0.01154569 0.0699565 ] [ 0.00729224 -0.01126076 0.99991001 -0.05316125] [ 0. 0. 0. 1. ]] SLAMing on 4.21538475 meters Centerline goodness : 0.915244 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99915331 0.04055442 -0.00692872 1.10161671] [-0.04047307 0.99911441 0.01150312 0.07060484] [ 0.00738908 -0.01121296 0.99990983 -0.05266812] [ 0. 0. 0. 1. ]] SLAMing on 4.2453847499999995 meters Centerline goodness : 0.919749 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99927598 0.03746154 -0.00664379 1.09996712] [-0.03741125 0.99927152 0.00753832 0.0721344 ] [ 0.00692135 -0.00728431 0.99994952 -0.0519449 ] [ 0. 0. 0. 1. ]] SLAMing on 4.27538475 meters Centerline goodness : 0.919147 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99928035 0.03729489 -0.00691891 1.10013672] [-0.03723824 0.99927323 0.00814365 0.06949986] [ 0.0072176 -0.00788015 0.9999429 -0.05132864] [ 0. 0. 0. 1. ]] SLAMing on 4.30538475 meters Centerline goodness : 0.920566 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99940889 0.03375078 -0.00653829 1.09950807] [-0.03372667 0.99942401 0.00376408 0.07099513] [ 0.00666157 -0.00354134 0.99997154 -0.05210478] [ 0. 0. 0. 1. ]] SLAMing on 4.33538475 meters Centerline goodness : 0.915438 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99942484 0.03322132 -0.0068062 1.10110042] [-0.03319936 0.99944325 0.00331403 0.07042352] [ 0.00691251 -0.00308616 0.99997135 -0.05370993] [ 0. 0. 0. 1. ]] SLAMing on 4.36538475 meters Centerline goodness : 0.914374 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 0.99942865 0.03303441 -0.00714792 1.10209333] [-0.03301253 0.99944995 0.00315717 0.06980004] [ 0.00724828 -0.0029194 0.99996947 -0.05439715] [ 0. 0. 0. 1. ]] SLAMing on 4.39538475 meters Centerline goodness : 0.915025 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 9.99508052e-01 3.06499563e-02 -6.65090104e-03 1.10054871e+00] [-3.06525608e-02 9.99530058e-01 -2.89984783e-04 6.90352161e-02] [ 6.63888748e-03 4.93709273e-04 9.99977840e-01 -5.46676946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.42538475 meters Centerline goodness : 0.915711 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.05 [[ 9.99494020e-01 3.10804459e-02 -6.76096248e-03 1.10047969e+00] [-3.10797182e-02 9.99516886e-01 2.12688665e-04 6.75311191e-02] [ 6.76430662e-03 -2.45223967e-06 9.99977122e-01 -5.44865678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4553847499999994 meters Centerline goodness : 0.917064 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.06 [[ 9.99448408e-01 3.26573518e-02 -6.03138751e-03 1.09910567e+00] [-3.26525020e-02 9.99466359e-01 9.00848656e-04 6.64180001e-02] [ 6.05758825e-03 -7.03411862e-04 9.99981405e-01 -5.50845424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.48538475 meters Centerline goodness : 0.917064 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.06 [[ 9.99448408e-01 3.26573518e-02 -6.03138751e-03 1.09910567e+00] [-3.26525020e-02 9.99466359e-01 9.00848656e-04 6.64180001e-02] [ 6.05758825e-03 -7.03411862e-04 9.99981405e-01 -5.50845424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51538475 meters Centerline goodness : 0.916053 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.06 [[ 9.99429263e-01 3.32595161e-02 -5.91212185e-03 1.09886955e+00] [-3.32530410e-02 9.99446256e-01 1.19019676e-03 6.57677839e-02] [ 5.94843341e-03 -9.92921438e-04 9.99981815e-01 -5.53995625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.54538475 meters Centerline goodness : 0.918576 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.06 [[ 0.99937274 0.03502964 -0.00520063 1.09754086] [-0.03501484 0.99938256 0.00290982 0.06046198] [ 0.00529935 -0.0027259 0.99998224 -0.05594198] [ 0. 0. 0. 1. ]] SLAMing on 4.57538475 meters Centerline goodness : 0.919250 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.06 [[ 9.99455993e-01 3.26539026e-02 -4.63039260e-03 1.09642405e+00] [-3.26503860e-02 9.99466487e-01 8.33057226e-04 5.35620883e-02] [ 4.65512479e-03 -6.81419932e-04 9.99988933e-01 -5.68053865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.60538475 meters Centerline goodness : 0.923727 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.06 [[ 0.99956139 0.02927216 -0.00449123 1.0958071 ] [-0.0292829 0.99956841 -0.0023461 0.0506893 ] [ 0.00442062 0.00247658 0.99998716 -0.05694422] [ 0. 0. 0. 1. ]] SLAMing on 4.63538475 meters Centerline goodness : 0.927259 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.06 [[ 0.99965449 0.02585632 -0.00472709 1.09597105] [-0.02587401 0.99965829 -0.0037205 0.04233049] [ 0.00462928 0.00384153 0.99998191 -0.05647229] [ 0. 0. 0. 1. ]] SLAMing on 4.665384749999999 meters Centerline goodness : 0.927451 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.06 [[ 0.99973725 0.0224903 -0.00442979 1.09528655] [-0.02251952 0.99972421 -0.00666126 0.03911331] [ 0.00427875 0.00675927 0.999968 -0.05673126] [ 0. 0. 0. 1. ]] SLAMing on 4.69538475 meters Centerline goodness : 0.936560 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:-0.05 [[ 0.9998129 0.01887436 -0.00423344 1.09464855] [-0.01889364 0.9998111 -0.00456038 0.02752475] [ 0.00414657 0.00463951 0.99998064 -0.05132479] [ 0. 0. 0. 1. ]] SLAMing on 4.72538475 meters Centerline goodness : 0.936982 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.05 [[ 0.9998214 0.01829385 -0.00474422 1.09571506] [-0.01831166 0.99982534 -0.00373841 0.02179636] [ 0.00467501 0.00382461 0.99998176 -0.05120827] [ 0. 0. 0. 1. ]] SLAMing on 4.75538475 meters Centerline goodness : 0.934706 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.05 [[ 0.9998683 0.01536188 -0.00523319 1.09926705] [-0.01538872 0.99986844 -0.0051266 0.01493482] [ 0.00515374 0.00520646 0.99997317 -0.05442945] [ 0. 0. 0. 1. ]] SLAMing on 4.7853847499999995 meters Centerline goodness : 0.934961 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.06 [[ 0.99987143 0.0150092 -0.00564359 1.10085461] [-0.01503624 0.99987553 -0.00477926 0.01215102] [ 0.00557115 0.0048635 0.99997265 -0.05548364] [ 0. 0. 0. 1. ]] SLAMing on 4.81538475 meters Centerline goodness : 0.933210 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.06 [[ 0.99986557 0.01530961 -0.00586984 1.10174112] [-0.01533048 0.99987626 -0.00352739 0.00709261] [ 0.00581511 0.0036169 0.99997655 -0.05608173] [ 0. 0. 0. 1. ]] SLAMing on 4.84538475 meters Centerline goodness : 0.934269 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.06 [[ 0.99985742 0.01590086 -0.00568343 1.10102223] [-0.01591708 0.99986934 -0.00282074 0.0052546 ] [ 0.00563783 0.0029108 0.99997987 -0.05571731] [ 0. 0. 0. 1. ]] SLAMing on 4.875384749999999 meters Centerline goodness : 0.932435 Centerline is valid? [False, False] Translation: X:1.10, Y:0.00, Z:-0.06 [[ 0.99984436 0.01666605 -0.00578737 1.10069855] [-0.01667866 0.99985862 -0.00213702 0.00306346] [ 0.00575094 0.00223322 0.99998097 -0.05546756] [ 0. 0. 0. 1. ]] SLAMing on 4.90538475 meters Centerline goodness : 0.933071 Centerline is valid? [False, False] Translation: X:1.10, Y:0.00, Z:-0.06 [[ 0.99983873 0.01699061 -0.0058165 1.10056508] [-0.01700167 0.99985374 -0.00185744 0.0022175 ] [ 0.00578409 0.00195603 0.99998136 -0.05538614] [ 0. 0. 0. 1. ]] SLAMing on 4.93538475 meters Centerline goodness : 0.931782 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:-0.05 [[ 9.99835398e-01 1.68966792e-02 -6.60894629e-03 1.10172109e+00] [-1.69035725e-02 9.99856636e-01 -9.88552624e-04 -1.23526586e-03] [ 6.59129554e-03 1.10010471e-03 9.99977672e-01 -5.47156331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.96538475 meters Centerline goodness : 0.930656 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:-0.05 [[ 9.99837551e-01 1.64939022e-02 -7.26796953e-03 1.10300421e+00] [-1.64977349e-02 9.99863794e-01 -4.67705139e-04 -4.17885025e-03] [ 7.25926531e-03 5.87534195e-04 9.99973479e-01 -5.45431635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9953847499999995 meters Centerline goodness : 0.936115 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:-0.05 [[ 0.9998914 0.01272162 -0.00743923 1.10304217] [-0.01274334 0.99991466 -0.00287896 -0.00904036] [ 0.00740197 0.00297344 0.99996818 -0.0538658 ] [ 0. 0. 0. 1. ]] SLAMing on 5.02538475 meters Centerline goodness : 0.935251 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.05 [[ 0.99993734 0.00756011 -0.00825613 1.10502109] [-0.0075952 0.99996222 -0.00422759 -0.01524862] [ 0.00822386 0.00429004 0.99995698 -0.05156136] [ 0. 0. 0. 1. ]] SLAMing on 5.05538475 meters Centerline goodness : 0.935756 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.05 [[ 0.99994551 0.0060812 -0.00848502 1.10649956] [-0.00611209 0.99997477 -0.0036196 -0.0194192 ] [ 0.00846279 0.00367126 0.99995745 -0.05129584] [ 0. 0. 0. 1. ]] SLAMing on 5.085384749999999 meters Centerline goodness : 0.936832 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.05 [[ 9.99954917e-01 -7.80763215e-04 -9.46335264e-03 1.11038145e+00] [ 7.13321175e-04 9.99974342e-01 -7.12793537e-03 -2.49173845e-02] [ 9.46867506e-03 7.12086361e-03 9.99929816e-01 -5.15590908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11538475 meters Centerline goodness : 0.939317 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:-0.05 [[ 0.99994483 -0.00234266 -0.01023998 1.11259623] [ 0.0022802 0.99997875 -0.00610701 -0.02898299] [ 0.01025407 0.00608333 0.99992892 -0.05044237] [ 0. 0. 0. 1. ]] SLAMing on 5.14538475 meters Centerline goodness : 0.940405 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.05 [[ 0.99989473 -0.00920028 -0.01122003 1.11660498] [ 0.00908687 0.99990753 -0.01011731 -0.03252435] [ 0.01131207 0.01001429 0.99988587 -0.05081747] [ 0. 0. 0. 1. ]] SLAMing on 5.17538475 meters Centerline goodness : 0.941122 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.05 [[ 0.99987616 -0.01020527 -0.01198005 1.11864638] [ 0.0100886 0.99990149 -0.00975885 -0.03373956] [ 0.01207846 0.00963678 0.99988061 -0.05052442] [ 0. 0. 0. 1. ]] SLAMing on 5.2053847499999994 meters Centerline goodness : 0.940269 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.05 [[ 0.99988326 -0.00847107 -0.01271663 1.12163215] [ 0.00839336 0.99994585 -0.00615222 -0.03407772] [ 0.01276806 0.00604477 0.99990021 -0.05061592] [ 0. 0. 0. 1. ]] SLAMing on 5.23538475 meters Centerline goodness : 0.938832 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.05 [[ 0.99990283 -0.00497121 -0.01302353 1.12244437] [ 0.00493028 0.99998281 -0.00317337 -0.0302904 ] [ 0.01303908 0.00310885 0.99991015 -0.05082786] [ 0. 0. 0. 1. ]] SLAMing on 5.26538475 meters Centerline goodness : 0.937671 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.05 [[ 9.99911328e-01 -9.69220943e-04 -1.32814581e-02 1.12245054e+00] [ 9.76116604e-04 9.99999392e-01 5.12721990e-04 -2.81546867e-02] [ 1.32809531e-02 -5.25640778e-04 9.99911666e-01 -5.01271732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.295384749999999 meters Centerline goodness : 0.932749 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.05 [[ 0.99988006 0.00755156 -0.0135218 1.12179972] [-0.00746033 0.99994916 0.0067844 -0.0204405 ] [ 0.01357235 -0.00668271 0.99988556 -0.04965017] [ 0. 0. 0. 1. ]] SLAMing on 5.32538475 meters Centerline goodness : 0.933475 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.05 [[ 0.99983753 0.01205181 -0.01340426 1.12102824] [-0.01192177 0.9998815 0.00973904 -0.01544234] [ 0.01352004 -0.00957765 0.99986273 -0.04952615] [ 0. 0. 0. 1. ]] SLAMing on 5.35538475 meters Centerline goodness : 0.933556 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.05 [[ 0.99961286 0.02469086 -0.01282568 1.11653113] [-0.02443996 0.99951375 0.01936366 -0.00755402] [ 0.01329755 -0.01904271 0.99973024 -0.04606756] [ 0. 0. 0. 1. ]] SLAMing on 5.38538475 meters Centerline goodness : 0.932498 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.00, Z:-0.05 [[ 0.99948395 0.02963032 -0.01240493 1.11498414] [-0.02934214 0.99930931 0.02280204 -0.00370377] [ 0.01307199 -0.02242629 0.99966304 -0.04546472] [ 0. 0. 0. 1. ]] SLAMing on 5.415384749999999 meters Centerline goodness : 0.930443 Centerline is valid? [False, False] Translation: X:1.11, Y:0.00, Z:-0.04 [[ 0.99919473 0.03834332 -0.01181906 1.11241732] [-0.03797629 0.99883258 0.0298544 0.00216621] [ 0.01294998 -0.02938152 0.99948438 -0.04341325] [ 0. 0. 0. 1. ]] SLAMing on 5.44538475 meters Centerline goodness : 0.930727 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.04 [[ 0.99918279 0.03869919 -0.01166699 1.11184639] [-0.03834803 0.9988449 0.02895331 0.00553251] [ 0.01277398 -0.02848225 0.99951267 -0.04375778] [ 0. 0. 0. 1. ]] SLAMing on 5.47538475 meters Centerline goodness : 0.927371 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.04 [[ 0.99917572 0.03883595 -0.01181772 1.11215757] [-0.03849528 0.99887188 0.02780435 0.00900327] [ 0.0128842 -0.0273265 0.99954353 -0.04458601] [ 0. 0. 0. 1. ]] SLAMing on 5.50538475 meters Centerline goodness : 0.924753 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.9993036 0.03542891 -0.01170902 1.11199068] [-0.03515516 0.99912146 0.02281279 0.01192292] [ 0.01250697 -0.02238527 0.99967118 -0.04621792] [ 0. 0. 0. 1. ]] SLAMing on 5.5353847499999995 meters Centerline goodness : 0.924658 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99941833 0.03216899 -0.01132095 1.1116091 ] [-0.0319623 0.9993272 0.01798783 0.0138863 ] [ 0.01189198 -0.01761553 0.99977411 -0.04832554] [ 0. 0. 0. 1. ]] SLAMing on 5.56538475 meters Centerline goodness : 0.926153 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.05 [[ 0.99952993 0.02861851 -0.01099546 1.11115591] [-0.02847136 0.99950594 0.01331378 0.015595 ] [ 0.01137104 -0.01299446 0.99985091 -0.04971694] [ 0. 0. 0. 1. ]] SLAMing on 5.59538475 meters Centerline goodness : 0.924237 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.05 [[ 0.99963538 0.0247339 -0.01083212 1.11108225] [-0.02463729 0.99965628 0.00896297 0.01562557] [ 0.01105009 -0.00869283 0.99990116 -0.05077998] [ 0. 0. 0. 1. ]] SLAMing on 5.625384749999999 meters Centerline goodness : 0.924659 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.05 [[ 0.99972458 0.02088378 -0.01070708 1.11096871] [-0.02083668 0.9997728 0.00449153 0.01624913] [ 0.01079844 -0.00426719 0.99993259 -0.05172166] [ 0. 0. 0. 1. ]] SLAMing on 5.65538475 meters Centerline goodness : 0.925033 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99973315 0.02030237 -0.01101985 1.11176794] [-0.02024754 0.99978217 0.00506486 0.01256202] [ 0.01112028 -0.00484038 0.99992645 -0.05141108] [ 0. 0. 0. 1. ]] SLAMing on 5.68538475 meters Centerline goodness : 0.927181 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 9.99803052e-01 1.68906837e-02 -1.04193454e-02 1.11047965e+00] [-1.68809364e-02 9.99856984e-01 1.02274355e-03 1.27128796e-02] [ 1.04351301e-02 -8.46653814e-04 9.99945194e-01 -5.19124995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71538475 meters Centerline goodness : 0.925568 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99980096 0.01707717 -0.01031566 1.11016746] [-0.01706412 0.99985348 0.00135201 0.01166123] [ 0.01033723 -0.00117571 0.99994588 -0.05172616] [ 0. 0. 0. 1. ]] SLAMing on 5.7453847499999995 meters Centerline goodness : 0.927453 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99978968 0.01805196 -0.00973246 1.1085803 ] [-0.01803294 0.99983532 0.0020383 0.00992172] [ 0.00976765 -0.00186236 0.99995056 -0.05146007] [ 0. 0. 0. 1. ]] SLAMing on 5.77538475 meters Centerline goodness : 0.932135 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99978603 0.01833155 -0.00958352 1.10834672] [-0.01831204 0.99983007 0.00211982 0.00924942] [ 0.00962075 -0.00194387 0.99995183 -0.05178148] [ 0. 0. 0. 1. ]] SLAMing on 5.80538475 meters Centerline goodness : 0.929654 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.05 [[ 0.99977096 0.0193897 -0.0090588 1.1072808 ] [-0.01936376 0.99980817 0.00294276 0.00628575] [ 0.00911412 -0.00276667 0.99995464 -0.05223892] [ 0. 0. 0. 1. ]] SLAMing on 5.835384749999999 meters Centerline goodness : 0.930970 Centerline is valid? [False, False] Translation: X:1.11, Y:0.00, Z:-0.05 [[ 0.99975742 0.02018405 -0.00881517 1.10677196] [-0.02014802 0.99978837 0.00415644 0.00168539] [ 0.0088972 -0.00397782 0.99995251 -0.05237386] [ 0. 0. 0. 1. ]] SLAMing on 5.86538475 meters Centerline goodness : 0.929177 Centerline is valid? [False, False] Translation: X:1.11, Y:0.00, Z:-0.05 [[ 9.99821141e-01 1.69926104e-02 -8.30286260e-03 1.10565173e+00] [-1.69919552e-02 9.99855615e-01 1.49454969e-04 1.27695871e-03] [ 8.30420342e-03 -8.34636800e-06 9.99965519e-01 -5.32319422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.89538475 meters Centerline goodness : 0.927091 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.00, Z:-0.05 [[ 0.99986992 0.01397656 -0.00805017 1.10525172] [-0.0139961 0.99989923 -0.00237571 -0.00489667] [ 0.00801615 0.00248807 0.99996477 -0.05385534] [ 0. 0. 0. 1. ]] SLAMing on 5.92538475 meters Centerline goodness : 0.928259 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:-0.05 [[ 0.99991455 0.01054647 -0.00772453 1.10485398] [-0.01059169 0.99992687 -0.00583641 -0.00753694] [ 0.00766241 0.00591773 0.99995313 -0.05471228] [ 0. 0. 0. 1. ]] SLAMing on 5.9553847499999994 meters Centerline goodness : 0.928563 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.01, Z:-0.05 [[ 0.99991423 0.01016143 -0.00826301 1.10645643] [-0.01019987 0.99993729 -0.00462406 -0.01247988] [ 0.0082155 0.00470795 0.99995517 -0.05464881] [ 0. 0. 0. 1. ]] SLAMing on 5.98538475 meters Centerline goodness : 0.927220 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.06 [[ 0.99994533 0.00656286 -0.00814029 1.10769994] [-0.00661682 0.9999562 -0.00661867 -0.02014958] [ 0.00809649 0.00667217 0.99994496 -0.05599173] [ 0. 0. 0. 1. ]] SLAMing on 6.01538475 meters Centerline goodness : 0.924343 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.06 [[ 0.99994349 0.0063649 -0.00851465 1.10896592] [-0.00641192 0.99996428 -0.00550615 -0.02498048] [ 0.0084793 0.00556043 0.99994859 -0.05611596] [ 0. 0. 0. 1. ]] SLAMing on 6.045384749999999 meters Centerline goodness : 0.926086 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:-0.06 [[ 0.99994696 0.00586623 -0.0084657 1.10951889] [-0.00590514 0.99997208 -0.00457813 -0.03322912] [ 0.00843861 0.00462787 0.99995369 -0.05643369] [ 0. 0. 0. 1. ]] SLAMing on 6.07538475 meters Centerline goodness : 0.928906 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:-0.06 [[ 0.99994286 0.00639781 -0.00856464 1.10948346] [-0.00642694 0.99997364 -0.00337856 -0.03701982] [ 0.0085428 0.00343341 0.99995762 -0.05600083] [ 0. 0. 0. 1. ]] SLAMing on 6.10538475 meters Centerline goodness : 0.928186 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:-0.06 [[ 0.99993598 0.008085 -0.00791661 1.10744961] [-0.00809728 0.99996606 -0.00152083 -0.04261896] [ 0.00790405 0.00158484 0.99996751 -0.05541256] [ 0. 0. 0. 1. ]] SLAMing on 6.13538475 meters Centerline goodness : 0.931212 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.06 [[ 9.99922081e-01 1.07071090e-02 -6.41792523e-03 1.10335597e+00] [-1.07079523e-02 9.99942664e-01 -9.70489385e-05 -4.60194317e-02] [ 6.41651814e-03 1.65764214e-04 9.99979400e-01 -5.53440984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165384749999999 meters Centerline goodness : 0.929682 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.06 [[ 9.99912461e-01 1.18257500e-02 -5.93473413e-03 1.10179473e+00] [-1.18230508e-02 9.99929985e-01 4.89696941e-04 -4.73720116e-02] [ 5.94010965e-03 -4.19487410e-04 9.99982269e-01 -5.52364038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.19538475 meters Centerline goodness : 0.931335 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.05 [[ 0.99988457 0.01435517 -0.00497844 1.09815879] [-0.01434382 0.99989446 0.00230817 -0.0516652 ] [ 0.00501105 -0.0022365 0.99998494 -0.0541141 ] [ 0. 0. 0. 1. ]] SLAMing on 6.22538475 meters Centerline goodness : 0.929722 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.05 [[ 0.99987575 0.01497656 -0.00491774 1.09783454] [-0.01496114 0.99988309 0.00315814 -0.05452901] [ 0.00496447 -0.00308418 0.99998292 -0.0539691 ] [ 0. 0. 0. 1. ]] SLAMing on 6.25538475 meters Centerline goodness : 0.932191 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.05 [[ 0.99986553 0.0157413 -0.00459759 1.09744566] [-0.01572097 0.99986662 0.00442556 -0.06062396] [ 0.00466664 -0.00435269 0.99997964 -0.05449368] [ 0. 0. 0. 1. ]] SLAMing on 6.2853847499999995 meters Centerline goodness : 0.932478 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.06 [[ 9.99914389e-01 1.24785046e-02 -3.93720341e-03 1.09629228e+00] [-1.24770142e-02 9.99922078e-01 4.02894172e-04 -6.20648812e-02] [ 3.94192413e-03 -3.53735138e-04 9.99992168e-01 -5.57972716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.31538475 meters Centerline goodness : 0.933049 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.06 [[ 0.99995187 0.00914156 -0.00356193 1.09569335] [-0.00914692 0.99995705 -0.00149166 -0.07014854] [ 0.00354814 0.00152417 0.99999254 -0.055505 ] [ 0. 0. 0. 1. ]] SLAMing on 6.34538475 meters Centerline goodness : 0.932457 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.06 [[ 0.99998057 0.00519743 -0.00344132 1.09612294] [-0.0052147 0.99997376 -0.00502755 -0.07329814] [ 0.0034151 0.0050454 0.99998144 -0.05648653] [ 0. 0. 0. 1. ]] SLAMing on 6.375384749999999 meters Centerline goodness : 0.933178 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:-0.05 [[ 0.99998617 -0.00470938 -0.00234033 1.11986878] [ 0.00472595 0.99996345 0.00712482 -0.08423682] [ 0.00230669 -0.00713578 0.99997188 -0.04921742] [ 0. 0. 0. 1. ]] SLAMing on 6.40538475 meters Centerline goodness : 0.933178 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:-0.05 [[ 0.99998617 -0.00470938 -0.00234033 1.11986878] [ 0.00472595 0.99996345 0.00712482 -0.08423682] [ 0.00230669 -0.00713578 0.99997188 -0.04921742] [ 0. 0. 0. 1. ]] SLAMing on 6.43538475 meters Centerline goodness : 0.934743 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:-0.05 [[ 0.99995381 -0.00922726 -0.00269008 1.121699 ] [ 0.00923765 0.99994982 0.00387551 -0.08859456] [ 0.00265419 -0.00390018 0.99998887 -0.04979726] [ 0. 0. 0. 1. ]] SLAMing on 6.46538475 meters Centerline goodness : 0.937614 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.04 [[ 9.99765045e-01 -2.16507556e-02 -1.04815364e-03 1.14671267e+00] [ 2.16661428e-02 9.99602643e-01 1.80315091e-02 -1.01118828e-01] [ 6.57341357e-04 -1.80499820e-02 9.99836870e-01 -3.72467201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4953847499999995 meters Centerline goodness : 0.936854 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.11, Z:-0.03 [[ 0.99970944 -0.02331441 -0.00612171 1.16854291] [ 0.02342869 0.99953896 0.01931237 -0.10823892] [ 0.00566863 -0.01945018 0.99979476 -0.03148609] [ 0. 0. 0. 1. ]] SLAMing on 6.52538475 meters Centerline goodness : 0.937927 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.12, Z:-0.03 [[ 0.99941158 -0.033892 -0.00527428 1.18489371] [ 0.03401312 0.9991117 0.02487814 -0.115408 ] [ 0.00442642 -0.0250429 0.99967658 -0.02536373] [ 0. 0. 0. 1. ]] SLAMing on 6.55538475 meters Centerline goodness : 0.938688 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.02 [[ 0.99918694 -0.03993193 -0.00555818 1.18797533] [ 0.04004439 0.99895887 0.02185447 -0.11999499] [ 0.0046797 -0.02205927 0.99974571 -0.02464429] [ 0. 0. 0. 1. ]] SLAMing on 6.585384749999999 meters Centerline goodness : 0.939909 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.03 [[ 0.99900226 -0.04435239 -0.00522963 1.18843171] [ 0.04443655 0.99886316 0.01725617 -0.11913084] [ 0.00445833 -0.01747134 0.99983742 -0.02582997] [ 0. 0. 0. 1. ]] SLAMing on 6.61538475 meters Centerline goodness : 0.939107 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.03 [[ 0.99896556 -0.04513091 -0.00556799 1.18976746] [ 0.04522147 0.9988258 0.01737926 -0.11947578] [ 0.00477711 -0.01761307 0.99983347 -0.02565821] [ 0. 0. 0. 1. ]] SLAMing on 6.64538475 meters Centerline goodness : 0.940373 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.12, Z:-0.02 [[ 0.99881423 -0.04782058 -0.00912882 1.17220261] [ 0.04802292 0.99857191 0.02340831 -0.11802132] [ 0.00799639 -0.02381895 0.99968431 -0.02013167] [ 0. 0. 0. 1. ]] SLAMing on 6.67538475 meters Centerline goodness : 0.940844 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.11, Z:-0.02 [[ 0.99865102 -0.05118716 -0.00871897 1.17104247] [ 0.05133924 0.99851513 0.01821609 -0.11359054] [ 0.0077736 -0.01863914 0.99979606 -0.02136065] [ 0. 0. 0. 1. ]] SLAMing on 6.7053847499999994 meters Centerline goodness : 0.940810 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.11, Z:-0.02 [[ 0.9986252 -0.05169899 -0.00865569 1.17091598] [ 0.05183191 0.99852909 0.0159092 -0.10601228] [ 0.00782047 -0.01633597 0.99983597 -0.02290592] [ 0. 0. 0. 1. ]] SLAMing on 6.73538475 meters Centerline goodness : 0.940397 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.02 [[ 0.99872117 -0.04958284 -0.00987792 1.17318811] [ 0.04975306 0.99860285 0.01780383 -0.09828239] [ 0.00898136 -0.01827252 0.9997927 -0.02298645] [ 0. 0. 0. 1. ]] SLAMing on 6.76538475 meters Centerline goodness : 0.939906 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:-0.02 [[ 0.998845 -0.04676829 -0.01101758 1.17513566] [ 0.04699221 0.99867393 0.02102632 -0.09540285] [ 0.01001961 -0.02151978 0.99971821 -0.02241035] [ 0. 0. 0. 1. ]] SLAMing on 6.795384749999999 meters Centerline goodness : 0.940984 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.02 [[ 0.99892178 -0.04477907 -0.01225203 1.17757338] [ 0.04503989 0.99874487 0.02191091 -0.08574001] [ 0.0112555 -0.02243911 0.99968485 -0.02346027] [ 0. 0. 0. 1. ]] SLAMing on 6.82538475 meters Centerline goodness : 0.936226 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.08, Z:-0.02 [[ 0.99901058 -0.04236671 -0.01352463 1.18032893] [ 0.04268736 0.99879116 0.02437246 -0.08141971] [ 0.0124757 -0.02492567 0.99961146 -0.02381471] [ 0. 0. 0. 1. ]] SLAMing on 6.85538475 meters Centerline goodness : 0.933212 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:-0.03 [[ 0.99905113 -0.04094268 -0.01485048 1.18362827] [ 0.04129419 0.99885414 0.02419075 -0.07060853] [ 0.01384303 -0.02478103 0.99959705 -0.02618551] [ 0. 0. 0. 1. ]] SLAMing on 6.88538475 meters Centerline goodness : 0.933851 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.07, Z:-0.03 [[ 0.99913787 -0.03836202 -0.01587073 1.18579833] [ 0.03877637 0.99889167 0.02668002 -0.06651204] [ 0.01482964 -0.02727243 0.99951803 -0.02652984] [ 0. 0. 0. 1. ]] SLAMing on 6.915384749999999 meters Centerline goodness : 0.930402 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.06, Z:-0.03 [[ 0.99920094 -0.03625443 -0.01682576 1.18836743] [ 0.03668621 0.99898581 0.02610489 -0.0555142 ] [ 0.01586227 -0.0267013 0.9995176 -0.03011229] [ 0. 0. 0. 1. ]] SLAMing on 6.94538475 meters Centerline goodness : 0.930337 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.05, Z:-0.03 [[ 0.99916935 -0.03697718 -0.01712601 1.1895848 ] [ 0.03737999 0.99901696 0.02382962 -0.04923148] [ 0.01622802 -0.02445 0.99956933 -0.03217147] [ 0. 0. 0. 1. ]] SLAMing on 6.97538475 meters Centerline goodness : 0.927410 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.04, Z:-0.03 [[ 0.99926438 -0.0340194 -0.01770263 1.19053812] [ 0.03445468 0.99909618 0.0248936 -0.04056319] [ 0.01683977 -0.02548523 0.99953335 -0.03359143] [ 0. 0. 0. 1. ]] SLAMing on 7.005384749999999 meters Centerline goodness : 0.930054 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.04, Z:-0.03 [[ 0.99936079 -0.03067448 -0.01835982 1.19152584] [ 0.03118268 0.9991196 0.02806544 -0.03771492] [ 0.01748276 -0.02862 0.99943747 -0.03337208] [ 0. 0. 0. 1. ]] SLAMing on 7.0353847499999995 meters Centerline goodness : 0.926699 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.03, Z:-0.03 [[ 0.99946423 -0.02690268 -0.01864122 1.1913309 ] [ 0.02744714 0.99918508 0.02959444 -0.02913197] [ 0.01782986 -0.03009023 0.99938815 -0.03432609] [ 0. 0. 0. 1. ]] SLAMing on 7.06538475 meters Centerline goodness : 0.926681 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.02, Z:-0.04 [[ 0.99962395 -0.02155899 -0.01694579 1.19772878] [ 0.02184657 0.99961725 0.01697276 -0.02438876] [ 0.01657339 -0.01733658 0.99971234 -0.04062009] [ 0. 0. 0. 1. ]] SLAMing on 7.09538475 meters Centerline goodness : 0.929674 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.02, Z:-0.04 [[ 0.99969267 -0.017939 -0.01711042 1.1972422 ] [ 0.01826731 0.99964822 0.01922849 -0.01673689] [ 0.01675946 -0.01953514 0.99966869 -0.04034156] [ 0. 0. 0. 1. ]] SLAMing on 7.125384749999999 meters Centerline goodness : 0.928789 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:-0.04 [[ 0.99968648 -0.01815623 -0.01724235 1.19734744] [ 0.01846792 0.99966574 0.0180929 -0.01250086] [ 0.01690809 -0.01840566 0.99968763 -0.04068901] [ 0. 0. 0. 1. ]] SLAMing on 7.15538475 meters Centerline goodness : 0.930657 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:-0.04 [[ 0.99968913 -0.01812592 -0.01711973 1.19640415] [ 0.01840847 0.9996945 0.0164936 -0.00573034] [ 0.01681554 -0.01680362 0.9997174 -0.04082815] [ 0. 0. 0. 1. ]] SLAMing on 7.18538475 meters Centerline goodness : 0.931033 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.00, Z:-0.04 [[ 0.99966877 -0.01888124 -0.0174886 1.19729939] [ 0.0191495 0.99969954 0.01530098 -0.00231955] [ 0.01719444 -0.01563081 0.99972998 -0.04120038] [ 0. 0. 0. 1. ]] SLAMing on 7.215384749999999 meters Centerline goodness : 0.928372 Centerline is valid? [False, False] Translation: X:1.20, Y:0.00, Z:-0.04 [[ 0.99963481 -0.0202732 -0.0178676 1.19857599] [ 0.02051508 0.99969894 0.01345954 0.00362628] [ 0.01758935 -0.01382118 0.99974976 -0.04176565] [ 0. 0. 0. 1. ]] SLAMing on 7.2453847499999995 meters Centerline goodness : 0.928221 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:-0.04 [[ 0.99958815 -0.02178149 -0.01868393 1.20116017] [ 0.02200785 0.99968582 0.01199628 0.00647253] [ 0.01841677 -0.01240253 0.99975347 -0.04282895] [ 0. 0. 0. 1. ]] SLAMing on 7.27538475 meters Centerline goodness : 0.927934 Centerline is valid? [False, False] Translation: X:1.21, Y:0.01, Z:-0.04 [[ 0.99948981 -0.02483383 -0.02008471 1.20573844] [ 0.02503617 0.99963766 0.00988627 0.01057001] [ 0.01983192 -0.01038407 0.9997494 -0.04398692] [ 0. 0. 0. 1. ]] SLAMing on 7.30538475 meters Centerline goodness : 0.929249 Centerline is valid? [False, False] Translation: X:1.21, Y:0.01, Z:-0.04 [[ 0.99943798 -0.02622556 -0.02087939 1.20778897] [ 0.02642029 0.99960945 0.00910543 0.01185098] [ 0.02063244 -0.00965196 0.99974054 -0.04403434] [ 0. 0. 0. 1. ]] SLAMing on 7.335384749999999 meters Centerline goodness : 0.928104 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.04 [[ 0.9993885 -0.02777401 -0.02124211 1.20854893] [ 0.02795621 0.99957445 0.00832909 0.01500628] [ 0.02100174 -0.00891785 0.99973967 -0.04301824] [ 0. 0. 0. 1. ]] SLAMing on 7.36538475 meters Centerline goodness : 0.927258 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.04 [[ 0.99944734 -0.02504707 -0.02185546 1.21000934] [ 0.02531601 0.99960606 0.01211684 0.0156553 ] [ 0.02154336 -0.01266343 0.99968771 -0.04242854] [ 0. 0. 0. 1. ]] SLAMing on 7.39538475 meters Centerline goodness : 0.925428 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.04 [[ 0.99946765 -0.02323296 -0.02290509 1.21313559] [ 0.02356634 0.99961865 0.01439396 0.0194253 ] [ 0.02256194 -0.01492609 0.99963402 -0.04324368] [ 0. 0. 0. 1. ]] SLAMing on 7.42538475 meters Centerline goodness : 0.920583 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.04 [[ 0.99944012 -0.02397521 -0.02333739 1.21440211] [ 0.02428983 0.99961658 0.01329289 0.02197801] [ 0.02300974 -0.01385231 0.99963927 -0.04390603] [ 0. 0. 0. 1. ]] SLAMing on 7.4553847499999994 meters Centerline goodness : 0.921267 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.04 [[ 0.99943417 -0.024429 -0.02312071 1.21387977] [ 0.02471327 0.99962147 0.01209011 0.02775384] [ 0.02281661 -0.01265466 0.99965957 -0.0438752 ] [ 0. 0. 0. 1. ]] SLAMing on 7.48538475 meters Centerline goodness : 0.920400 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.04 [[ 0.99942378 -0.02490354 -0.02306342 1.21399386] [ 0.02516729 0.99962032 0.01121689 0.03087418] [ 0.02277533 -0.01179087 0.99967108 -0.04421825] [ 0. 0. 0. 1. ]] SLAMing on 7.51538475 meters Centerline goodness : 0.919807 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.04 [[ 0.99945728 -0.02291311 -0.02366735 1.21605386] [ 0.02325236 0.99962935 0.01415977 0.0332376 ] [ 0.02333413 -0.01470241 0.99961961 -0.04433513] [ 0. 0. 0. 1. ]] SLAMing on 7.545384749999999 meters Centerline goodness : 0.917047 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.05 [[ 0.99949264 -0.02070702 -0.02420098 1.2183582 ] [ 0.02113026 0.9996259 0.0173656 0.03300072] [ 0.02383234 -0.01786816 0.99955628 -0.04504095] [ 0. 0. 0. 1. ]] SLAMing on 7.57538475 meters Centerline goodness : 0.912251 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.05 [[ 0.99943576 -0.02236336 -0.02506075 1.22145277] [ 0.02274771 0.99962632 0.01515776 0.03784458] [ 0.02471241 -0.01571928 0.99957101 -0.04708709] [ 0. 0. 0. 1. ]] SLAMing on 7.60538475 meters Centerline goodness : 0.912432 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.05 [[ 0.99942567 -0.02265129 -0.02520427 1.22215307] [ 0.0230126 0.99963519 0.01413862 0.04060314] [ 0.02487482 -0.01471052 0.99958233 -0.04797981] [ 0. 0. 0. 1. ]] SLAMing on 7.63538475 meters Centerline goodness : 0.908121 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.05 [[ 0.99946832 -0.01961879 -0.02604197 1.2242721 ] [ 0.0200688 0.9996518 0.01713266 0.0426717 ] [ 0.02569678 -0.01764618 0.99951403 -0.04864321] [ 0. 0. 0. 1. ]] SLAMing on 7.665384749999999 meters Centerline goodness : 0.906017 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.05 [[ 0.99955655 -0.01267996 -0.0269431 1.22625238] [ 0.01330427 0.99964417 0.02311975 0.04941493] [ 0.02664035 -0.02346795 0.99936957 -0.04936597] [ 0. 0. 0. 1. ]] SLAMing on 7.69538475 meters Centerline goodness : 0.905284 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.05 [[ 0.9996153 -0.00517795 -0.02724767 1.22490978] [ 0.00596902 0.99956067 0.02903176 0.05738017] [ 0.02708537 -0.02918324 0.99920705 -0.04769234] [ 0. 0. 0. 1. ]] SLAMing on 7.72538475 meters Centerline goodness : 0.902964 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.05 [[ 9.99697709e-01 2.96257754e-04 -2.45846164e-02 1.23099907e+00] [ 1.35252265e-04 9.99846004e-01 1.75485151e-02 6.25826958e-02] [ 2.45860293e-02 -1.75465355e-02 9.99543719e-01 -5.22981681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755384749999999 meters Centerline goodness : 0.902497 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.06 [[ 0.99977172 0.0058048 -0.02056221 1.23748103] [-0.00564686 0.99995417 0.00773123 0.06739443] [ 0.02060614 -0.00761335 0.99975868 -0.05633653] [ 0. 0. 0. 1. ]] SLAMing on 7.7853847499999995 meters Centerline goodness : 0.902604 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.06 [[ 9.99771753e-01 1.44759571e-02 -1.57126901e-02 1.24223371e+00] [-1.44740923e-02 9.99895218e-01 2.32399657e-04 7.46156475e-02] [ 1.57144079e-02 -4.91968491e-06 9.99876521e-01 -5.90437022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.81538475 meters Centerline goodness : 0.901459 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 9.99758692e-01 1.56311759e-02 -1.54345251e-02 1.24069085e+00] [-1.56299563e-02 9.99877825e-01 1.99649932e-04 7.84777044e-02] [ 1.54357602e-02 4.16391986e-05 9.99880861e-01 -5.81141589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.84538475 meters Centerline goodness : 0.898209 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.06 [[ 0.99968155 0.02016597 -0.01516992 1.24050702] [-0.02011756 0.99979205 0.00333747 0.08608051] [ 0.01523406 -0.00303122 0.99987936 -0.05832539] [ 0. 0. 0. 1. ]] SLAMing on 7.875384749999999 meters Centerline goodness : 0.896998 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.06 [[ 0.99961028 0.02341053 -0.01520675 1.24144219] [-0.02332609 0.99971163 0.00570611 0.09077954] [ 0.01533595 -0.00534917 0.99986809 -0.0592609 ] [ 0. 0. 0. 1. ]] SLAMing on 7.90538475 meters Centerline goodness : 0.899194 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.06 [[ 0.99961625 0.02300975 -0.01542414 1.24206864] [-0.02293193 0.99972349 0.00520297 0.09141486] [ 0.01553959 -0.00484727 0.9998675 -0.05955249] [ 0. 0. 0. 1. ]] SLAMing on 7.93538475 meters Centerline goodness : 0.896778 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.06 [[ 9.99704157e-01 1.87879009e-02 -1.54470899e-02 1.24226951e+00] [-1.87824333e-02 9.99823470e-01 4.98964491e-04 9.26571824e-02] [ 1.54537376e-02 -2.08682939e-04 9.99880562e-01 -6.02367184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965384749999999 meters Centerline goodness : 0.897156 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 9.99753475e-01 1.56486345e-02 -1.57514632e-02 1.24525631e+00] [-1.56653123e-02 9.99876853e-01 -9.35974660e-04 9.13986798e-02] [ 1.57348768e-02 1.18249551e-03 9.99875500e-01 -6.20039117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9953847499999995 meters Centerline goodness : 0.896523 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99976162 0.01409144 -0.01667762 1.24818608] [-0.01411756 0.99989929 -0.0014491 0.09125329] [ 0.01665552 0.0016842 0.99985987 -0.06307363] [ 0. 0. 0. 1. ]] SLAMing on 8.02538475 meters Centerline goodness : 0.891639 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99981716 0.00750169 -0.0175888 1.25174002] [-0.00760599 0.99995384 -0.0058707 0.08997245] [ 0.01754395 0.00600341 0.99982807 -0.06411204] [ 0. 0. 0. 1. ]] SLAMing on 8.05538475 meters Centerline goodness : 0.892406 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99981374 0.00652473 -0.0181634 1.25323393] [-0.00661686 0.99996552 -0.00501712 0.087423 ] [ 0.01813004 0.00513637 0.99982244 -0.06351971] [ 0. 0. 0. 1. ]] SLAMing on 8.085384750000001 meters Centerline goodness : 0.890843 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99983363 0.00161702 -0.01816848 1.25426027] [-0.00177989 0.99995835 -0.0089521 0.08633334] [ 0.01815324 0.00898295 0.99979486 -0.06428617] [ 0. 0. 0. 1. ]] SLAMing on 8.11538475 meters Centerline goodness : 0.889666 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99983214 0.00163931 -0.01824839 1.25417878] [-0.00179073 0.99996408 -0.00828425 0.08513441] [ 0.01823416 0.00831554 0.99979916 -0.06354001] [ 0. 0. 0. 1. ]] SLAMing on 8.14538475 meters Centerline goodness : 0.890945 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.06 [[ 0.99982055 0.00595344 -0.01798383 1.25277959] [-0.00601725 0.99997578 -0.0034966 0.08427937] [ 0.01796258 0.00360419 0.99983216 -0.0617929 ] [ 0. 0. 0. 1. ]] SLAMing on 8.175384750000001 meters Centerline goodness : 0.890862 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.06 [[ 9.99786539e-01 1.03040049e-02 -1.79081927e-02 1.25200837e+00] [-1.02889529e-02 9.99946633e-01 9.32445028e-04 8.45777798e-02] [ 1.79168449e-02 -7.47989437e-04 9.99839201e-01 -6.05762686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.20538475 meters Centerline goodness : 0.887738 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99973298 0.01528593 -0.01732952 1.25070498] [-0.01520905 0.99987394 0.00455946 0.08926634] [ 0.01739703 -0.00429467 0.99983944 -0.06041113] [ 0. 0. 0. 1. ]] SLAMing on 8.23538475 meters Centerline goodness : 0.885892 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99965977 0.01946849 -0.01735853 1.25078782] [-0.01932251 0.99977685 0.0085382 0.09014186] [ 0.01752089 -0.00819988 0.99981287 -0.06015329] [ 0. 0. 0. 1. ]] SLAMing on 8.26538475 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99955716 0.02432099 -0.01714585 1.24991704] [-0.024116 0.99963639 0.01206286 0.09202872] [ 0.01743299 -0.01164402 0.99978023 -0.05975672] [ 0. 0. 0. 1. ]] SLAMing on 8.29538475 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99955716 0.02432104 -0.01714578 1.24991693] [-0.02411605 0.99963639 0.01206288 0.09202874] [ 0.01743293 -0.01164405 0.99978023 -0.05975668] [ 0. 0. 0. 1. ]] SLAMing on 8.325384750000001 meters Centerline goodness : 0.884156 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99954107 0.02504305 -0.01704378 1.24959453] [-0.02485083 0.9996262 0.01139748 0.09472116] [ 0.01732284 -0.0109687 0.99978978 -0.06018202] [ 0. 0. 0. 1. ]] SLAMing on 8.35538475 meters Centerline goodness : 0.879616 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.06 [[ 0.99930691 0.0330362 -0.01715569 1.25113036] [-0.03272419 0.99929943 0.01815996 0.09806894] [ 0.0177436 -0.01758596 0.9996879 -0.06169066] [ 0. 0. 0. 1. ]] SLAMing on 8.38538475 meters Centerline goodness : 0.874152 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.06 [[ 0.99899213 0.04133544 -0.01749597 1.25279012] [-0.04088135 0.99883699 0.02556154 0.10028956] [ 0.01853222 -0.02482052 0.99952013 -0.06253912] [ 0. 0. 0. 1. ]] SLAMing on 8.415384750000001 meters Centerline goodness : 0.874619 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.06 [[ 0.9989633 0.04199686 -0.01756688 1.25284057] [-0.04154986 0.99882159 0.02508076 0.10215712] [ 0.01859949 -0.02432486 0.99953107 -0.06305008] [ 0. 0. 0. 1. ]] SLAMing on 8.44538475 meters Centerline goodness : 0.874705 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.06 [[ 0.99893524 0.04266844 -0.01754394 1.25257431] [-0.04222461 0.99879694 0.02493502 0.10304516] [ 0.01858677 -0.02416768 0.99953512 -0.06316285] [ 0. 0. 0. 1. ]] SLAMing on 8.47538475 meters Centerline goodness : 0.872503 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.07 [[ 0.99873214 0.0479159 -0.01543299 1.25919539] [-0.04767621 0.99874193 0.01554139 0.10147232] [ 0.01615826 -0.0147859 0.99976012 -0.06540412] [ 0. 0. 0. 1. ]] SLAMing on 8.505384750000001 meters Centerline goodness : 0.873558 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.07 [[ 0.99885313 0.04533024 -0.01541388 1.25802152] [-0.04514868 0.99890904 0.01192977 0.10211193] [ 0.01593784 -0.01122017 0.99981003 -0.06508249] [ 0. 0. 0. 1. ]] SLAMing on 8.53538475 meters Centerline goodness : 0.872288 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.07 [[ 0.99882195 0.04608996 -0.01518 1.25749927] [-0.04589548 0.99886269 0.01292058 0.0994743 ] [ 0.01575824 -0.01220867 0.99980129 -0.0650661 ] [ 0. 0. 0. 1. ]] SLAMing on 8.56538475 meters Centerline goodness : 0.873036 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.07 [[ 0.99896234 0.0430736 -0.01479564 1.25649852] [-0.04294332 0.99903685 0.00901306 0.10027054] [ 0.01516961 -0.00836833 0.99984992 -0.06566794] [ 0. 0. 0. 1. ]] SLAMing on 8.595384750000001 meters Centerline goodness : 0.875031 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.07 [[ 0.99909619 0.03993754 -0.01455296 1.25542426] [-0.0398624 0.99919049 0.00541786 0.0998347 ] [ 0.01475755 -0.00483285 0.99987942 -0.06569024] [ 0. 0. 0. 1. ]] SLAMing on 8.62538475 meters Centerline goodness : 0.878554 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.07 [[ 0.99915603 0.04036113 -0.00762996 1.25963537] [-0.04040807 0.99916463 -0.00610159 0.09389463] [ 0.00737732 0.00640476 0.99995228 -0.06821565] [ 0. 0. 0. 1. ]] SLAMing on 8.655384750000001 meters Centerline goodness : 0.882638 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.07 [[ 0.99922535 0.03875766 -0.00682159 1.25642743] [-0.03880714 0.99922022 -0.00727681 0.08685067] [ 0.00653424 0.0075359 0.99995026 -0.06688234] [ 0. 0. 0. 1. ]] SLAMing on 8.68538475 meters Centerline goodness : 0.884225 Centerline is valid? [False, False] Translation: X:1.26, Y:0.08, Z:-0.07 [[ 0.99921658 0.03899813 -0.00673597 1.25652305] [-0.0390416 0.99921679 -0.00644737 0.08347949] [ 0.00647926 0.0067053 0.99995653 -0.06725607] [ 0. 0. 0. 1. ]] SLAMing on 8.71538475 meters Centerline goodness : 0.885163 Centerline is valid? [False, False] Translation: X:1.26, Y:0.08, Z:-0.07 [[ 0.99932812 0.036093 -0.00637206 1.25555477] [-0.03615281 0.99930078 -0.00953521 0.08151984] [ 0.00602345 0.00975917 0.99993424 -0.06766136] [ 0. 0. 0. 1. ]] SLAMing on 8.745384750000001 meters Centerline goodness : 0.888117 Centerline is valid? [False, False] Translation: X:1.26, Y:0.07, Z:-0.07 [[ 0.99942945 0.03315226 -0.00645749 1.25701943] [-0.03322001 0.99939097 -0.01068268 0.07161165] [ 0.0060994 0.0108911 0.99992209 -0.0694845 ] [ 0. 0. 0. 1. ]] SLAMing on 8.77538475 meters Centerline goodness : 0.890497 Centerline is valid? [False, False] Translation: X:1.26, Y:0.06, Z:-0.07 [[ 0.99963894 0.02599677 -0.00679348 1.25999425] [-0.02609819 0.99954238 -0.01529396 0.05947455] [ 0.00639278 0.01546573 0.99985996 -0.07270443] [ 0. 0. 0. 1. ]] SLAMing on 8.80538475 meters Centerline goodness : 0.888620 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:-0.07 [[ 0.99973225 0.02198399 -0.0072207 1.26209475] [-0.02210862 0.99959961 -0.01765857 0.05241478] [ 0.0068296 0.01781348 0.999818 -0.07435682] [ 0. 0. 0. 1. ]] SLAMing on 8.835384750000001 meters Centerline goodness : 0.890934 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:-0.08 [[ 0.9998084 0.01798126 -0.00773525 1.26493758] [-0.01813268 0.9996361 -0.01997185 0.04525706] [ 0.00737331 0.02010828 0.99977062 -0.07663973] [ 0. 0. 0. 1. ]] SLAMing on 8.86538475 meters Centerline goodness : 0.890395 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.08 [[ 0.99985836 0.01071112 -0.01298213 1.27634078] [-0.01092378 0.99980547 -0.01642224 0.03035346] [ 0.0128037 0.01656173 0.99978086 -0.07549874] [ 0. 0. 0. 1. ]] SLAMing on 8.89538475 meters Centerline goodness : 0.889221 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.08 [[ 0.99988922 0.00680909 -0.01323535 1.27740853] [-0.00706473 0.99978752 -0.01936498 0.02593214] [ 0.01310068 0.01945634 0.99972487 -0.07628008] [ 0. 0. 0. 1. ]] SLAMing on 8.925384750000001 meters Centerline goodness : 0.891345 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.08 [[ 9.99914631e-01 -8.84741935e-05 -1.30660599e-02 1.27794375e+00] [-2.33345121e-04 9.99696692e-01 -2.46265945e-02 1.73320132e-02] [ 1.30642757e-02 2.46275410e-02 9.99611329e-01 -7.71481832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.95538475 meters Centerline goodness : 0.890964 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.08 [[ 9.99907090e-01 -5.11201251e-04 -1.36216458e-02 1.27967399e+00] [ 1.92350091e-04 9.99726194e-01 -2.33987190e-02 1.20088072e-02] [ 1.36298775e-02 2.33939249e-02 9.99633408e-01 -7.73867337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.98538475 meters Centerline goodness : 0.891266 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.08 [[ 0.99989185 -0.00452721 -0.01399262 1.28286109] [ 0.00416765 0.99966307 -0.02561984 0.00546819] [ 0.01410389 0.02555875 0.99957382 -0.07976873] [ 0. 0. 0. 1. ]] SLAMing on 9.01538475 meters Centerline goodness : 0.892798 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.08 [[ 0.99988538 -0.00466146 -0.01440481 1.28393755] [ 0.00430733 0.99969011 -0.02451781 0.00168863] [ 0.01451464 0.02445296 0.99959561 -0.07960196] [ 0. 0. 0. 1. ]] SLAMing on 9.04538475 meters Centerline goodness : 0.892595 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.08 [[ 0.99987947 -0.00487211 -0.01474163 1.28464212] [ 0.0045308 0.99972295 -0.02309772 -0.00302091] [ 0.01485008 0.02302814 0.99962452 -0.07877267] [ 0. 0. 0. 1. ]] SLAMing on 9.075384750000001 meters Centerline goodness : 0.894324 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.08 [[ 0.99987571 -0.00475291 -0.01503262 1.28459343] [ 0.00441817 0.99974328 -0.02222286 -0.00478447] [ 0.01513438 0.02215369 0.99964002 -0.07755544] [ 0. 0. 0. 1. ]] SLAMing on 9.10538475 meters Centerline goodness : 0.894738 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.07 [[ 0.9998802 -0.002368 -0.01529632 1.28613234] [ 0.00218041 0.99992236 -0.01226898 -0.01033847] [ 0.01532419 0.01223415 0.99980773 -0.06844403] [ 0. 0. 0. 1. ]] SLAMing on 9.13538475 meters Centerline goodness : 0.897209 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.07 [[ 0.99987136 0.00149252 -0.01596984 1.28643744] [-0.00160022 0.99997605 -0.00673368 -0.01309187] [ 0.01595941 0.00675837 0.9998498 -0.06582354] [ 0. 0. 0. 1. ]] SLAMing on 9.165384750000001 meters Centerline goodness : 0.899159 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.06 [[ 0.99986878 0.00151204 -0.01612851 1.28606211] [-0.00161907 0.99997674 -0.00662556 -0.01183755] [ 0.01611811 0.00665081 0.99984798 -0.06469034] [ 0. 0. 0. 1. ]] SLAMing on 9.19538475 meters Centerline goodness : 0.900671 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.06 [[ 0.99984702 0.00417056 -0.01698675 1.28829574] [-0.00420912 0.99998865 -0.00223453 -0.01333912] [ 0.01697724 0.00230569 0.99985322 -0.06387213] [ 0. 0. 0. 1. ]] SLAMing on 9.22538475 meters Centerline goodness : 0.898657 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.06 [[ 0.99984401 0.0038013 -0.01724809 1.28894719] [-0.00384593 0.99998934 -0.0025552 -0.01222615] [ 0.0172382 0.00262114 0.99984798 -0.0639398 ] [ 0. 0. 0. 1. ]] SLAMing on 9.255384750000001 meters Centerline goodness : 0.899041 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.06 [[ 0.99983452 0.00296743 -0.01794804 1.29024578] [-0.00302994 0.99998944 -0.00345676 -0.00903971] [ 0.01793759 0.00351057 0.99983295 -0.06360652] [ 0. 0. 0. 1. ]] SLAMing on 9.28538475 meters Centerline goodness : 0.898003 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.06 [[ 9.99799486e-01 5.59407302e-03 -1.92274445e-02 1.29303454e+00] [-5.58738275e-03 9.99984310e-01 4.01657074e-04 -8.93932597e-03] [ 1.92293898e-02 -2.94145444e-04 9.99815055e-01 -6.28960184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31538475 meters Centerline goodness : 0.898418 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.06 [[ 0.99976048 0.00826836 -0.0202636 1.29542537] [-0.00821471 0.99996253 0.00272944 -0.0036697 ] [ 0.02028541 -0.00256232 0.99979095 -0.06302935] [ 0. 0. 0. 1. ]] SLAMing on 9.345384750000001 meters Centerline goodness : 0.897502 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:-0.06 [[ 9.99760867e-01 8.61840497e-03 -2.00980603e-02 1.29449524e+00] [-8.58074136e-03 9.99961265e-01 1.95947829e-03 2.64820942e-04] [ 2.01141693e-02 -1.78655346e-03 9.99796093e-01 -6.26687654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.37538475 meters Centerline goodness : 0.896219 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.06 [[ 0.99971396 0.01259901 -0.02032895 1.2936879 ] [-0.01250375 0.99991027 0.00480605 0.00597144] [ 0.02038768 -0.00455048 0.99978179 -0.06110969] [ 0. 0. 0. 1. ]] SLAMing on 9.40538475 meters Centerline goodness : 0.895444 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.06 [[ 0.99971282 0.01274902 -0.02029132 1.29347846] [-0.01267556 0.99991265 0.0037447 0.01068384] [ 0.02033729 -0.00348642 0.9997871 -0.06137155] [ 0. 0. 0. 1. ]] SLAMing on 9.43538475 meters Centerline goodness : 0.895048 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.06 [[ 0.99965613 0.01596891 -0.02079938 1.2944879 ] [-0.01584683 0.9998563 0.00602096 0.01688887] [ 0.02089254 -0.00568928 0.99976554 -0.06127823] [ 0. 0. 0. 1. ]] SLAMing on 9.46538475 meters Centerline goodness : 0.894054 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.06 [[ 0.99959733 0.01864908 -0.02138689 1.2956954 ] [-0.01847755 0.99979573 0.00819011 0.02327052] [ 0.02153525 -0.00779163 0.99973773 -0.06094493] [ 0. 0. 0. 1. ]] SLAMing on 9.495384750000001 meters Centerline goodness : 0.892589 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.06 [[ 0.99960592 0.01787113 -0.0216479 1.29671058] [-0.01773039 0.99982052 0.00667605 0.02822281] [ 0.02176332 -0.0062896 0.99974337 -0.06170314] [ 0. 0. 0. 1. ]] SLAMing on 9.52538475 meters Centerline goodness : 0.893207 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.06 [[ 0.99961628 0.0171164 -0.02177869 1.29757821] [-0.0170062 0.99984168 0.00523547 0.03279186] [ 0.02186486 -0.00486308 0.99974911 -0.06251523] [ 0. 0. 0. 1. ]] SLAMing on 9.55538475 meters Centerline goodness : 0.890764 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:-0.06 [[ 0.99962027 0.01641977 -0.02212928 1.29863456] [-0.01634859 0.99986059 0.00339378 0.0386885 ] [ 0.02218192 -0.00303071 0.99974936 -0.06327001] [ 0. 0. 0. 1. ]] SLAMing on 9.585384750000001 meters Centerline goodness : 0.888663 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:-0.06 [[ 0.99962112 0.0157516 -0.0225722 1.29990346] [-0.01571224 0.99987471 0.00191974 0.04237275] [ 0.02259961 -0.00156435 0.99974337 -0.06407535] [ 0. 0. 0. 1. ]] SLAMing on 9.61538475 meters Centerline goodness : 0.886691 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.06 [[ 0.99955014 0.02008441 -0.02227397 1.29982526] [-0.01998409 0.99978917 0.00471758 0.05014005] [ 0.02236403 -0.00427033 0.99974077 -0.0645754 ] [ 0. 0. 0. 1. ]] SLAMing on 9.64538475 meters Centerline goodness : 0.884285 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.06 [[ 0.99946275 0.02376559 -0.02257018 1.30056195] [-0.02359447 0.99969104 0.00781824 0.05324001] [ 0.02274901 -0.0072815 0.99971469 -0.0646016 ] [ 0. 0. 0. 1. ]] SLAMing on 9.675384750000001 meters Centerline goodness : 0.882430 Centerline is valid? [False, False] Translation: X:1.30, Y:0.06, Z:-0.06 [[ 0.99923317 0.03193517 -0.02265451 1.30070568] [-0.03160901 0.99939349 0.01461215 0.05887458] [ 0.02310741 -0.01388486 0.99963656 -0.06423133] [ 0. 0. 0. 1. ]] SLAMing on 9.70538475 meters Centerline goodness : 0.880710 Centerline is valid? [False, False] Translation: X:1.30, Y:0.06, Z:-0.06 [[ 0.99904242 0.03771045 -0.02218495 1.2980308 ] [-0.03730608 0.99913507 0.01836734 0.06388334] [ 0.0228584 -0.01752211 0.99958515 -0.06223921] [ 0. 0. 0. 1. ]] SLAMing on 9.73538475 meters Centerline goodness : 0.883771 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.99901943 0.03850297 -0.02185612 1.29646755] [-0.03811128 0.99911022 0.0180637 0.06618263] [ 0.02253218 -0.01721303 0.99959793 -0.06143842] [ 0. 0. 0. 1. ]] SLAMing on 9.76538475 meters Centerline goodness : 0.884186 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.9990016 0.03911456 -0.0215839 1.29511354] [-0.03873342 0.99909098 0.01780278 0.06824244] [ 0.02226062 -0.01694899 0.99960852 -0.06069923] [ 0. 0. 0. 1. ]] SLAMing on 9.79538475 meters Centerline goodness : 0.886732 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.99891956 0.0434465 -0.01649584 1.30052661] [-0.04332492 0.99903168 0.007658 0.07119426] [ 0.01681258 -0.00693504 0.99983461 -0.06385089] [ 0. 0. 0. 1. ]] SLAMing on 9.825384750000001 meters Centerline goodness : 0.892559 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.99889507 0.0441913 -0.01599305 1.29853749] [-0.04406324 0.99899449 0.00827319 0.07104413] [ 0.01634257 -0.00755934 0.99983788 -0.06251258] [ 0. 0. 0. 1. ]] SLAMing on 9.85538475 meters Centerline goodness : 0.895155 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.99903466 0.04105491 -0.01562844 1.29730851] [-0.040995 0.9991508 0.00413504 0.07231545] [ 0.01578493 -0.00349037 0.99986932 -0.06285163] [ 0. 0. 0. 1. ]] SLAMing on 9.88538475 meters Centerline goodness : 0.897064 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 9.99170825e-01 3.77583344e-02 -1.52305943e-02 1.29625529e+00] [-3.77527046e-02 9.99286897e-01 6.57088958e-04 7.11857652e-02] [ 1.52445439e-02 -8.15479873e-05 9.99883792e-01 -6.31679696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915384750000001 meters Centerline goodness : 0.899813 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.06 [[ 0.99930277 0.03431803 -0.01470557 1.29547831] [-0.03436868 0.99940408 -0.00320503 0.07103521] [ 0.01458682 0.00370821 0.99988673 -0.06406624] [ 0. 0. 0. 1. ]] SLAMing on 9.94538475 meters Centerline goodness : 0.901646 Centerline is valid? [False, False] Translation: X:1.30, Y:0.07, Z:-0.07 [[ 0.99940591 0.03122153 -0.01459618 1.29726664] [-0.03130631 0.99949406 -0.00561633 0.06634575] [ 0.01441345 0.00606995 0.9998777 -0.06670832] [ 0. 0. 0. 1. ]] SLAMing on 9.97538475 meters Centerline goodness : 0.902744 Centerline is valid? [False, False] Translation: X:1.30, Y:0.06, Z:-0.07 [[ 0.99941526 0.03075816 -0.01493547 1.29866031] [-0.03084066 0.99951013 -0.00532512 0.06287993] [ 0.01476436 0.00578262 0.99987428 -0.06765002] [ 0. 0. 0. 1. ]] SLAMing on 10.005384750000001 meters Centerline goodness : 0.904936 Centerline is valid? [False, False] Translation: X:1.30, Y:0.06, Z:-0.07 [[ 0.99952013 0.02723595 -0.01475536 1.29861226] [-0.02735407 0.99959488 -0.00786358 0.05725106] [ 0.01453521 0.00826343 0.99986021 -0.06829319] [ 0. 0. 0. 1. ]] SLAMing on 10.03538475 meters Centerline goodness : 0.907779 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.07 [[ 0.99951934 0.0271481 -0.01496928 1.29931804] [-0.02725248 0.99960536 -0.00681357 0.05321649] [ 0.0147784 0.00721824 0.99986474 -0.06837328] [ 0. 0. 0. 1. ]] SLAMing on 10.06538475 meters Centerline goodness : 0.909714 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.07 [[ 0.99961771 0.02335516 -0.01479789 1.30000944] [-0.02350318 0.99967465 -0.00990915 0.04927932] [ 0.01456165 0.01025316 0.9998414 -0.06996298] [ 0. 0. 0. 1. ]] SLAMing on 10.095384750000001 meters Centerline goodness : 0.911766 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.07 [[ 0.99961867 0.02303194 -0.01523279 1.30158556] [-0.02317453 0.99968863 -0.00925131 0.04594873] [ 0.01501497 0.00960079 0.99984118 -0.07071656] [ 0. 0. 0. 1. ]] SLAMing on 10.12538475 meters Centerline goodness : 0.911133 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:-0.07 [[ 0.99969282 0.01984594 -0.01484604 1.30135472] [-0.02002222 0.99972965 -0.01182084 0.04055057] [ 0.01460743 0.01211446 0.99981992 -0.07173717] [ 0. 0. 0. 1. ]] SLAMing on 10.15538475 meters Centerline goodness : 0.916008 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:-0.07 [[ 0.99968706 0.01997711 -0.01505644 1.30172114] [-0.02013947 0.99973982 -0.01070984 0.03698248] [ 0.01483857 0.01100972 0.99982929 -0.07144534] [ 0. 0. 0. 1. ]] SLAMing on 10.18538475 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.07 [[ 0.99968067 0.02033427 -0.01500228 1.30153508] [-0.02048139 0.999743 -0.0097188 0.03401755] [ 0.0148008 0.01002296 0.99984023 -0.07122043] [ 0. 0. 0. 1. ]] SLAMing on 10.21538475 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.07 [[ 0.99968067 0.02033427 -0.01500228 1.30153508] [-0.02048139 0.999743 -0.0097188 0.03401755] [ 0.0148008 0.01002296 0.99984023 -0.07122043] [ 0. 0. 0. 1. ]] SLAMing on 10.245384750000001 meters Centerline goodness : 0.917899 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.07 [[ 0.99968238 0.02019157 -0.01508122 1.3029391 ] [-0.02033178 0.99975094 -0.00920189 0.03078697] [ 0.01489166 0.00950559 0.99984393 -0.07272349] [ 0. 0. 0. 1. ]] SLAMing on 10.27538475 meters Centerline goodness : 0.918153 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.07 [[ 0.99968184 0.02042776 -0.01479589 1.30317358] [-0.02055414 0.99975311 -0.00844072 0.02743901] [ 0.01461981 0.00874215 0.99985491 -0.07371185] [ 0. 0. 0. 1. ]] SLAMing on 10.30538475 meters Centerline goodness : 0.919703 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.07 [[ 0.99967256 0.0209237 -0.01472986 1.30234661] [-0.02103206 0.99975258 -0.00724033 0.02467742] [ 0.01457472 0.00754776 0.9998653 -0.07253287] [ 0. 0. 0. 1. ]] SLAMing on 10.335384750000001 meters Centerline goodness : 0.921130 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.07 [[ 0.99966085 0.02155841 -0.01460893 1.30130322] [-0.0216478 0.99974772 -0.00598864 0.02192692] [ 0.01447614 0.00630286 0.99987535 -0.071237 ] [ 0. 0. 0. 1. ]] SLAMing on 10.36538475 meters Centerline goodness : 0.920984 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.07 [[ 0.99965646 0.02179228 -0.01456208 1.30130238] [-0.02186647 0.99974862 -0.00495447 0.0189429 ] [ 0.01445046 0.00527119 0.99988169 -0.0710465 ] [ 0. 0. 0. 1. ]] SLAMing on 10.39538475 meters Centerline goodness : 0.923627 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.07 [[ 0.99966293 0.02126174 -0.01489816 1.30262107] [-0.02134002 0.99975919 -0.00511516 0.01879143] [ 0.01478582 0.00543137 0.99987593 -0.07175322] [ 0. 0. 0. 1. ]] SLAMing on 10.425384750000001 meters Centerline goodness : 0.922002 Centerline is valid? [False, False] Translation: X:1.31, Y:0.02, Z:-0.07 [[ 0.99967893 0.0200498 -0.0154934 1.30524071] [-0.02013032 0.99978456 -0.00505918 0.01695159] [ 0.01538863 0.00536945 0.99986717 -0.07295037] [ 0. 0. 0. 1. ]] SLAMing on 10.45538475 meters Centerline goodness : 0.920583 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99970069 0.01862076 -0.01586788 1.30717415] [-0.01870087 0.99981304 -0.0049152 0.01281263] [ 0.01577339 0.00521047 0.99986202 -0.07355191] [ 0. 0. 0. 1. ]] SLAMing on 10.48538475 meters Centerline goodness : 0.920434 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99970248 0.01826362 -0.01616753 1.30794352] [-0.01833678 0.99982224 -0.0043883 0.01015594] [ 0.01608451 0.00468346 0.99985967 -0.07338122] [ 0. 0. 0. 1. ]] SLAMing on 10.51538475 meters Centerline goodness : 0.920098 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99970412 0.0175305 -0.01686254 1.3095881 ] [-0.0176024 0.99983656 -0.00412475 0.00837047] [ 0.01678747 0.00442035 0.99984931 -0.07333056] [ 0. 0. 0. 1. ]] SLAMing on 10.54538475 meters Centerline goodness : 0.920402 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99972857 0.01546665 -0.01742309 1.3121485 ] [-0.01554547 0.99986949 -0.00439762 0.00835086] [ 0.0173528 0.00466728 0.99983854 -0.07369448] [ 0. 0. 0. 1. ]] SLAMing on 10.57538475 meters Centerline goodness : 0.924026 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99974981 0.0135837 -0.01777074 1.31344535] [-0.01365534 0.99989909 -0.00391623 0.00822781] [ 0.01771575 0.00415792 0.99983442 -0.07198735] [ 0. 0. 0. 1. ]] SLAMing on 10.60538475 meters Centerline goodness : 0.923950 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.9997476 0.01342615 -0.01801327 1.3129349 ] [-0.01348275 0.99990453 -0.00302411 0.00659842] [ 0.01797095 0.00326621 0.99983317 -0.06989367] [ 0. 0. 0. 1. ]] SLAMing on 10.63538475 meters Centerline goodness : 0.923209 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99979498 0.00969733 -0.01777534 1.31157032] [-0.00982357 0.99992705 -0.00702843 0.00719431] [ 0.01770589 0.00720161 0.9998173 -0.06897234] [ 0. 0. 0. 1. ]] SLAMing on 10.665384750000001 meters Centerline goodness : 0.924129 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99979633 0.00779 -0.01861778 1.31364719] [-0.0079312 0.99994025 -0.00752235 0.0076604 ] [ 0.01855806 0.00766848 0.99979838 -0.06813086] [ 0. 0. 0. 1. ]] SLAMing on 10.69538475 meters Centerline goodness : 0.920222 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:-0.07 [[ 0.99976123 0.00943245 -0.01971051 1.31749834] [-0.00951987 0.99994524 -0.00434612 0.00875898] [ 0.01966843 0.00453273 0.99979628 -0.06882723] [ 0. 0. 0. 1. ]] SLAMing on 10.72538475 meters Centerline goodness : 0.915928 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:-0.07 [[ 0.99972892 0.00935007 -0.02132277 1.32475736] [-0.00942405 0.99994991 -0.00337179 0.01579147] [ 0.02129017 0.00357183 0.99976696 -0.07214144] [ 0. 0. 0. 1. ]] SLAMing on 10.755384750000001 meters Centerline goodness : 0.911545 Centerline is valid? [False, False] Translation: X:1.33, Y:0.02, Z:-0.07 [[ 9.99681488e-01 1.21754331e-02 -2.21061542e-02 1.32684734e+00] [-1.21760982e-02 9.99925863e-01 1.04521207e-04 1.74283201e-02] [ 2.21057880e-02 1.64678789e-04 9.99755624e-01 -7.19634245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.78538475 meters Centerline goodness : 0.912502 Centerline is valid? [False, False] Translation: X:1.33, Y:0.02, Z:-0.07 [[ 0.99961801 0.01450742 -0.02352395 1.32854172] [-0.01445239 0.99989241 0.00250755 0.0223615 ] [ 0.0235578 -0.00216661 0.99972013 -0.06990895] [ 0. 0. 0. 1. ]] SLAMing on 10.81538475 meters Centerline goodness : 0.909525 Centerline is valid? [False, False] Translation: X:1.33, Y:0.03, Z:-0.07 [[ 9.99616721e-01 1.44247141e-02 -2.36291752e-02 1.32829879e+00] [-1.43948642e-02 9.99895362e-01 1.43288066e-03 2.65036573e-02] [ 2.36473716e-02 -1.09219270e-03 9.99719765e-01 -6.95878464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845384750000001 meters Centerline goodness : 0.906304 Centerline is valid? [False, False] Translation: X:1.33, Y:0.03, Z:-0.07 [[ 0.99948644 0.01961326 -0.02534114 1.33337054] [-0.01944858 0.99978822 0.00672885 0.03373676] [ 0.02546774 -0.00623255 0.99965622 -0.0705435 ] [ 0. 0. 0. 1. ]] SLAMing on 10.87538475 meters Centerline goodness : 0.900399 Centerline is valid? [False, False] Translation: X:1.34, Y:0.04, Z:-0.07 [[ 0.99941127 0.02235676 -0.02602461 1.33597943] [-0.02213065 0.99971508 0.00894412 0.03820104] [ 0.02621716 -0.00836291 0.99962129 -0.0719638 ] [ 0. 0. 0. 1. ]] SLAMing on 10.90538475 meters Centerline goodness : 0.898376 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.07 [[ 0.99921401 0.02923251 -0.02677362 1.33791783] [-0.02884031 0.99947268 0.0149198 0.04551627] [ 0.02719564 -0.01413591 0.99953018 -0.07184078] [ 0. 0. 0. 1. ]] SLAMing on 10.93538475 meters Centerline goodness : 0.893924 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.07 [[ 0.99909602 0.03264638 -0.02722772 1.3389451 ] [-0.03216663 0.99932266 0.01787551 0.04835977] [ 0.02779285 -0.01698352 0.99946942 -0.07165791] [ 0. 0. 0. 1. ]] SLAMing on 10.96538475 meters Centerline goodness : 0.890556 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.07 [[ 0.99897305 0.03596914 -0.02755103 1.33838699] [-0.03543622 0.99917986 0.01959299 0.05634545] [ 0.02823317 -0.01859656 0.99942836 -0.07024224] [ 0. 0. 0. 1. ]] SLAMing on 10.995384750000001 meters Centerline goodness : 0.890276 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.07 [[ 0.99896991 0.03602395 -0.02759319 1.33813394] [-0.03552483 0.99919994 0.01837033 0.06172912] [ 0.02823289 -0.01737116 0.99945042 -0.07010663] [ 0. 0. 0. 1. ]] SLAMing on 11.02538475 meters Centerline goodness : 0.889676 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.07 [[ 0.99884048 0.03946178 -0.02757633 1.3375268 ] [-0.03891583 0.99904108 0.020062 0.07061947] [ 0.02834157 -0.01896558 0.99941836 -0.06917522] [ 0. 0. 0. 1. ]] SLAMing on 11.05538475 meters Centerline goodness : 0.887291 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.07 [[ 0.99868171 0.04332398 -0.0275295 1.3369862 ] [-0.04267108 0.99880382 0.02387703 0.07305993] [ 0.02853102 -0.02267084 0.99933579 -0.06752155] [ 0. 0. 0. 1. ]] SLAMing on 11.085384750000001 meters Centerline goodness : 0.890001 Centerline is valid? [False, False] Translation: X:1.33, Y:0.08, Z:-0.06 [[ 0.99854968 0.04634343 -0.0274013 1.33416109] [-0.04565428 0.99863781 0.02526292 0.08109944] [ 0.02853475 -0.02397529 0.99930524 -0.06420985] [ 0. 0. 0. 1. ]] SLAMing on 11.11538475 meters Centerline goodness : 0.887678 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.06 [[ 0.99854324 0.04646061 -0.02743721 1.33362667] [-0.04580414 0.99865996 0.02408875 0.08599286] [ 0.02851962 -0.02279692 0.99933324 -0.06366968] [ 0. 0. 0. 1. ]] SLAMing on 11.14538475 meters Centerline goodness : 0.888974 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.06 [[ 0.9985224 0.04699939 -0.02727785 1.33266201] [-0.04636847 0.99865219 0.02331879 0.09040047] [ 0.02833705 -0.0220195 0.99935587 -0.0630117 ] [ 0. 0. 0. 1. ]] SLAMing on 11.175384750000001 meters Centerline goodness : 0.885123 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.06 [[ 0.99836506 0.04993855 -0.02780915 1.33418069] [-0.04923726 0.99846519 0.02535644 0.09586818] [ 0.02903273 -0.02394574 0.9992916 -0.06322187] [ 0. 0. 0. 1. ]] SLAMing on 11.20538475 meters Centerline goodness : 0.884019 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.06 [[ 0.99837649 0.04958259 -0.02803473 1.33474307] [-0.04892358 0.99852074 0.02372375 0.10203732] [ 0.02916954 -0.02231367 0.99932539 -0.06350904] [ 0. 0. 0. 1. ]] SLAMing on 11.23538475 meters Centerline goodness : 0.881830 Centerline is valid? [False, False] Translation: X:1.34, Y:0.10, Z:-0.06 [[ 0.99838948 0.04918417 -0.02827297 1.33541733] [-0.04854347 0.99855811 0.02291808 0.1041412 ] [ 0.02935941 -0.0215087 0.99933748 -0.06381666] [ 0. 0. 0. 1. ]] SLAMing on 11.26538475 meters Centerline goodness : 0.881749 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.07 [[ 0.99843781 0.04793352 -0.0287108 1.33756519] [-0.04733582 0.99865513 0.02114817 0.10786221] [ 0.0296859 -0.01975608 0.99936402 -0.06552786] [ 0. 0. 0. 1. ]] SLAMing on 11.29538475 meters Centerline goodness : 0.876447 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.07 [[ 0.99847226 0.04697394 -0.02909647 1.33938818] [-0.04640002 0.99872078 0.02009601 0.10933632] [ 0.03000324 -0.01871523 0.99937458 -0.06693923] [ 0. 0. 0. 1. ]] SLAMing on 11.32538475 meters Centerline goodness : 0.873316 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.07 [[ 0.99866014 0.04235745 -0.02972829 1.34083844] [-0.04192985 0.99901001 0.01486256 0.11209618] [ 0.0303284 -0.01359614 0.99944751 -0.06794103] [ 0. 0. 0. 1. ]] SLAMing on 11.35538475 meters Centerline goodness : 0.875403 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.07 [[ 0.99877969 0.03969794 -0.02938036 1.33991886] [-0.0393613 0.99915359 0.01194943 0.11421743] [ 0.02982986 -0.0107784 0.99949688 -0.06770007] [ 0. 0. 0. 1. ]] SLAMing on 11.38538475 meters Centerline goodness : 0.876453 Centerline is valid? [False, False] Translation: X:1.34, Y:0.12, Z:-0.07 [[ 0.9988053 0.03875444 -0.02976676 1.34082841] [-0.03844636 0.99920172 0.01085338 0.11682031] [ 0.03016362 -0.00969599 0.99949795 -0.06784142] [ 0. 0. 0. 1. ]] SLAMing on 11.415384750000001 meters Centerline goodness : 0.876148 Centerline is valid? [False, False] Translation: X:1.34, Y:0.12, Z:-0.07 [[ 0.9988085 0.03850083 -0.02998777 1.3412957 ] [-0.03821277 0.99921837 0.01012059 0.118904 ] [ 0.03035399 -0.00896261 0.99949903 -0.06798883] [ 0. 0. 0. 1. ]] SLAMing on 11.44538475 meters Centerline goodness : 0.879087 Centerline is valid? [False, False] Translation: X:1.34, Y:0.12, Z:-0.07 [[ 0.9986146 0.04348815 -0.02962534 1.33954554] [-0.0431017 0.99897865 0.01356089 0.12417058] [ 0.03018482 -0.0122652 0.99946908 -0.06637732] [ 0. 0. 0. 1. ]] SLAMing on 11.47538475 meters Centerline goodness : 0.878290 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.07 [[ 0.99842016 0.04782815 -0.02948994 1.33901051] [-0.04734023 0.99873368 0.01702786 0.12690007] [ 0.03026701 -0.0156049 0.99942003 -0.06560286] [ 0. 0. 0. 1. ]] SLAMing on 11.505384750000001 meters Centerline goodness : 0.881893 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.06 [[ 0.99800976 0.0557828 -0.02940745 1.33674739] [-0.05510813 0.99820908 0.02327484 0.13157707] [ 0.03065312 -0.02160792 0.99929649 -0.06256348] [ 0. 0. 0. 1. ]] SLAMing on 11.53538475 meters Centerline goodness : 0.881283 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.06 [[ 0.99782791 0.05851687 -0.03025298 1.33727899] [-0.05784599 0.99806979 0.02259522 0.13370986] [ 0.03151679 -0.02079613 0.99928685 -0.06051058] [ 0. 0. 0. 1. ]] SLAMing on 11.56538475 meters Centerline goodness : 0.882793 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.06 [[ 0.9976214 0.06201521 -0.03009411 1.33674678] [-0.06126878 0.99780508 0.02512297 0.1353926 ] [ 0.03158606 -0.02321939 0.99923129 -0.05937018] [ 0. 0. 0. 1. ]] SLAMing on 11.595384750000001 meters Centerline goodness : 0.884161 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.06 [[ 0.99765533 0.06144185 -0.03014543 1.33741376] [-0.06070568 0.99784863 0.02475759 0.13600142] [ 0.03160173 -0.02286954 0.99923887 -0.06011789] [ 0. 0. 0. 1. ]] SLAMing on 11.62538475 meters Centerline goodness : 0.884138 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.06 [[ 0.99792124 0.05749428 -0.02911362 1.33534062] [-0.05683237 0.99811704 0.02307492 0.1365597 ] [ 0.03038547 -0.02137235 0.99930973 -0.06031371] [ 0. 0. 0. 1. ]] SLAMing on 11.65538475 meters Centerline goodness : 0.884089 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.99809431 0.05453787 -0.02886825 1.33449936] [-0.05393242 0.99831627 0.0213522 0.13626884] [ 0.02998414 -0.01975457 0.99935515 -0.06028136] [ 0. 0. 0. 1. ]] SLAMing on 11.68538475 meters Centerline goodness : 0.879929 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.06 [[ 0.99838467 0.04941517 -0.02803913 1.33316697] [-0.04888367 0.99861732 0.01933505 0.13371639] [ 0.02895581 -0.01793316 0.99941981 -0.06147944] [ 0. 0. 0. 1. ]] SLAMing on 11.71538475 meters Centerline goodness : 0.881416 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.06 [[ 0.99855495 0.04555479 -0.02850916 1.33500954] [-0.0451103 0.99885315 0.0160453 0.13292546] [ 0.02920741 -0.01473606 0.99946474 -0.06339413] [ 0. 0. 0. 1. ]] SLAMing on 11.745384750000001 meters Centerline goodness : 0.878113 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.07 [[ 0.99874471 0.04248762 -0.02652951 1.33245625] [-0.04202575 0.99895918 0.01773128 0.13068624] [ 0.02725526 -0.0165941 0.99949076 -0.06537674] [ 0. 0. 0. 1. ]] SLAMing on 11.77538475 meters Centerline goodness : 0.878315 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.07 [[ 0.99887771 0.03929189 -0.02644741 1.33251032] [-0.03891287 0.99913453 0.01469646 0.13120574] [ 0.02700198 -0.01365082 0.99954217 -0.06592799] [ 0. 0. 0. 1. ]] SLAMing on 11.80538475 meters Centerline goodness : 0.880227 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.07 [[ 0.99888674 0.03919363 -0.02625129 1.33180117] [-0.0388277 0.99914349 0.01430731 0.13182362] [ 0.02678956 -0.01327211 0.99955299 -0.06529113] [ 0. 0. 0. 1. ]] SLAMing on 11.835384750000001 meters Centerline goodness : 0.877573 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.07 [[ 0.99886049 0.03947766 -0.02681848 1.33280457] [-0.03912714 0.99914342 0.01347197 0.1323728 ] [ 0.02732735 -0.01240729 0.99954954 -0.0651234 ] [ 0. 0. 0. 1. ]] SLAMing on 11.86538475 meters Centerline goodness : 0.883709 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.99877537 0.04132422 -0.02720416 1.33245232] [-0.04099663 0.9990812 0.01249168 0.13532194] [ 0.02769538 -0.0113611 0.99955185 -0.06306674] [ 0. 0. 0. 1. ]] SLAMing on 11.89538475 meters Centerline goodness : 0.883187 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.9987332 0.04262631 -0.02673951 1.33087746] [-0.04229881 0.99902433 0.01269658 0.13875174] [ 0.02725463 -0.01154945 0.9995618 -0.06233718] [ 0. 0. 0. 1. ]] SLAMing on 11.925384750000001 meters Centerline goodness : 0.884338 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.99873679 0.04252223 -0.026771 1.33105877] [-0.04221068 0.99903549 0.01209724 0.14035899] [ 0.02725958 -0.01095194 0.99956839 -0.06258008] [ 0. 0. 0. 1. ]] SLAMing on 11.95538475 meters Centerline goodness : 0.883477 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.99874264 0.04230316 -0.02689936 1.33142159] [-0.04200358 0.99905004 0.01160656 0.14149206] [ 0.0273648 -0.01046209 0.99957076 -0.06278445] [ 0. 0. 0. 1. ]] SLAMing on 11.98538475 meters Centerline goodness : 0.882083 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.06 [[ 0.99889075 0.03860604 -0.02695994 1.33157543] [-0.03843023 0.9992367 0.00700936 0.14362748] [ 0.02720996 -0.00596551 0.99961194 -0.06358092] [ 0. 0. 0. 1. ]] SLAMing on 12.01538475 meters Centerline goodness : 0.882023 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.06 [[ 9.99036652e-01 3.44748744e-02 -2.71523557e-02 1.33247931e+00] [-3.44269713e-02 9.99404728e-01 2.22987606e-03 1.45955993e-01] [ 2.72130673e-02 -1.29295455e-03 9.99628820e-01 -6.48675373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.04538475 meters Centerline goodness : 0.879477 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.07 [[ 9.99070452e-01 3.32626003e-02 -2.74195260e-02 1.33473181e+00] [-3.32497951e-02 9.99446647e-01 9.22936617e-04 1.47661617e-01] [ 2.74350526e-02 -1.03850832e-05 9.99623588e-01 -6.71017118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.07538475 meters Centerline goodness : 0.879908 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.07 [[ 9.99081745e-01 3.26557564e-02 -2.77357038e-02 1.33593349e+00] [-3.26618770e-02 9.99466432e-01 2.32456301e-04 1.48665472e-01] [ 2.77284960e-02 6.73657299e-04 9.99615264e-01 -6.79069823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.10538475 meters Centerline goodness : 0.878956 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.07 [[ 9.99099110e-01 3.17942468e-02 -2.81086170e-02 1.33749643e+00] [-3.18270975e-02 9.99493129e-01 -7.21969735e-04 1.49366912e-01] [ 2.80714151e-02 1.61593501e-03 9.99604614e-01 -6.90237950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.13538475 meters Centerline goodness : 0.878956 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.07 [[ 9.99099110e-01 3.17942468e-02 -2.81086170e-02 1.33749643e+00] [-3.18270975e-02 9.99493129e-01 -7.21969735e-04 1.49366912e-01] [ 2.80714151e-02 1.61593501e-03 9.99604614e-01 -6.90237950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165384750000001 meters Centerline goodness : 0.879014 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.07 [[ 9.99106155e-01 3.13999292e-02 -2.83007958e-02 1.33852411e+00] [-3.14499314e-02 9.99504453e-01 -1.32332076e-03 1.50207972e-01] [ 2.82452192e-02 2.21219601e-03 9.99598576e-01 -6.99369832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.19538475 meters Centerline goodness : 0.877221 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.07 [[ 0.99911328 0.03124957 -0.02821572 1.33930585] [-0.03132544 0.9995067 -0.00225094 0.15332118] [ 0.02813146 0.00313281 0.99959932 -0.07120446] [ 0. 0. 0. 1. ]] SLAMing on 12.22538475 meters Centerline goodness : 0.878042 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.07 [[ 0.99912033 0.03109574 -0.02813579 1.33946538] [-0.03118981 0.99950924 -0.00291072 0.1552647 ] [ 0.02803148 0.00378571 0.99959987 -0.07165438] [ 0. 0. 0. 1. ]] SLAMing on 12.255384750000001 meters Centerline goodness : 0.879996 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.07 [[ 9.98975115e-01 3.57237098e-02 -2.77945329e-02 1.33791095e+00] [-3.57154737e-02 9.99361684e-01 7.92867769e-04 1.58197737e-01] [ 2.78051154e-02 2.00639739e-04 9.99613343e-01 -7.00699725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.28538475 meters Centerline goodness : 0.877922 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.07 [[ 9.98938256e-01 3.67184232e-02 -2.78229647e-02 1.33688816e+00] [-3.67121289e-02 9.99325611e-01 7.37184288e-04 1.60709311e-01] [ 2.78312694e-02 2.85038679e-04 9.99612595e-01 -6.89859998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.31538475 meters Centerline goodness : 0.882746 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.07 [[ 0.99873624 0.0442793 -0.02377527 1.34188082] [-0.04442825 0.99899589 -0.0057735 0.16282181] [ 0.02349576 0.0068225 0.99970066 -0.06951872] [ 0. 0. 0. 1. ]] SLAMing on 12.345384750000001 meters Centerline goodness : 0.881923 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.07 [[ 0.99869696 0.04508342 -0.02391355 1.34145941] [-0.04523734 0.99895864 -0.0059351 0.16461231] [ 0.02362107 0.00700916 0.99969641 -0.06895124] [ 0. 0. 0. 1. ]] SLAMing on 12.37538475 meters Centerline goodness : 0.883784 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.07 [[ 0.99844842 0.05050817 -0.02344516 1.34013846] [-0.05056075 0.99871962 -0.00165534 0.16663244] [ 0.02333154 0.00283818 0.99972375 -0.06785605] [ 0. 0. 0. 1. ]] SLAMing on 12.40538475 meters Centerline goodness : 0.883334 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.07 [[ 0.99840756 0.05126888 -0.02353375 1.34007337] [-0.0513257 0.99868032 -0.00181651 0.16842774] [ 0.02340956 0.0030215 0.99972139 -0.06783753] [ 0. 0. 0. 1. ]] SLAMing on 12.43538475 meters Centerline goodness : 0.881806 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.07 [[ 0.99806572 0.05882527 -0.02010997 1.34811851] [-0.0589785 0.99823391 -0.0071129 0.16763597] [ 0.01965604 0.00828519 0.99977247 -0.07019199] [ 0. 0. 0. 1. ]] SLAMing on 12.46538475 meters Centerline goodness : 0.883127 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.07 [[ 0.99803381 0.05935178 -0.02014625 1.34781238] [-0.059498 0.99820569 -0.00673726 0.16704767] [ 0.01971023 0.00792267 0.99977434 -0.0698081 ] [ 0. 0. 0. 1. ]] SLAMing on 12.495384750000001 meters Centerline goodness : 0.882411 Centerline is valid? [False, False] Translation: X:1.35, Y:0.16, Z:-0.07 [[ 0.99797699 0.06029429 -0.02016272 1.34730019] [-0.06041456 0.99815872 -0.00540932 0.16387065] [ 0.01979944 0.0066165 0.99978208 -0.06919412] [ 0. 0. 0. 1. ]] SLAMing on 12.52538475 meters Centerline goodness : 0.881123 Centerline is valid? [False, False] Translation: X:1.35, Y:0.16, Z:-0.07 [[ 0.99800072 0.05908775 -0.02243227 1.35124977] [-0.05927016 0.99821339 -0.00755518 0.15920841] [ 0.02194578 0.00886964 0.99971982 -0.07013329] [ 0. 0. 0. 1. ]] SLAMing on 12.55538475 meters Centerline goodness : 0.878718 Centerline is valid? [False, False] Translation: X:1.35, Y:0.16, Z:-0.07 [[ 0.99808592 0.05704777 -0.0238756 1.35366143] [-0.05730902 0.99830227 -0.01040418 0.15663323] [ 0.02324153 0.01175255 0.9996608 -0.07068241] [ 0. 0. 0. 1. ]] SLAMing on 12.585384750000001 meters Centerline goodness : 0.878145 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.07 [[ 0.99820264 0.05444888 -0.02503605 1.35525213] [-0.05478791 0.99841259 -0.01306076 0.1532592 ] [ 0.02428516 0.01440896 0.99960123 -0.07096112] [ 0. 0. 0. 1. ]] SLAMing on 12.61538475 meters Centerline goodness : 0.876085 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.07 [[ 0.9984348 0.04858497 -0.02770288 1.35833666] [-0.04913205 0.99860345 -0.01942164 0.14689439] [ 0.02672059 0.02075234 0.99942751 -0.07046027] [ 0. 0. 0. 1. ]] SLAMing on 12.64538475 meters Centerline goodness : 0.878071 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.07 [[ 0.99855174 0.04560449 -0.02854225 1.3597722 ] [-0.04624571 0.99868285 -0.02222363 0.14447468] [ 0.02749116 0.0235114 0.99934551 -0.07113775] [ 0. 0. 0. 1. ]] SLAMing on 12.675384750000001 meters Centerline goodness : 0.875232 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.07 [[ 0.99853271 0.04599866 -0.0285754 1.36014607] [-0.04657896 0.99871468 -0.01998484 0.1370236 ] [ 0.0276194 0.02128652 0.99939184 -0.07124237] [ 0. 0. 0. 1. ]] SLAMing on 12.70538475 meters Centerline goodness : 0.877349 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:-0.07 [[ 0.99847256 0.04764931 -0.02796572 1.35851854] [-0.04814603 0.99868934 -0.0173654 0.13037355] [ 0.02710162 0.01868531 0.99945803 -0.07063108] [ 0. 0. 0. 1. ]] SLAMing on 12.73538475 meters Centerline goodness : 0.874598 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:-0.07 [[ 0.99842547 0.04876369 -0.02772521 1.35736486] [-0.04921473 0.99866284 -0.0158251 0.12707413] [ 0.02691645 0.01716467 0.99949031 -0.06979055] [ 0. 0. 0. 1. ]] SLAMing on 12.76538475 meters Centerline goodness : 0.873160 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.07 [[ 0.99835213 0.05049416 -0.02726489 1.35604459] [-0.05087436 0.99861469 -0.01343528 0.12037996] [ 0.02654871 0.01480023 0.99953795 -0.0694501 ] [ 0. 0. 0. 1. ]] SLAMing on 12.79538475 meters Centerline goodness : 0.875135 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.07 [[ 0.99832379 0.05116915 -0.02704308 1.35571487] [-0.05151941 0.99859479 -0.0124175 0.11715033] [ 0.02636969 0.01378993 0.99955714 -0.06968249] [ 0. 0. 0. 1. ]] SLAMing on 12.82538475 meters Centerline goodness : 0.875865 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:-0.07 [[ 0.99830164 0.05145642 -0.02731448 1.3564826 ] [-0.05178646 0.99859178 -0.01151586 0.1134299 ] [ 0.02668345 0.01291082 0.99956056 -0.07017228] [ 0. 0. 0. 1. ]] SLAMing on 12.85538475 meters Centerline goodness : 0.873807 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:-0.07 [[ 0.99844444 0.04869843 -0.02715075 1.35696255] [-0.04906877 0.99870891 -0.01314454 0.10513566] [ 0.02647557 0.01445635 0.99954493 -0.07187605] [ 0. 0. 0. 1. ]] SLAMing on 12.88538475 meters Centerline goodness : 0.874444 Centerline is valid? [False, False] Translation: X:1.36, Y:0.10, Z:-0.07 [[ 0.99846353 0.04798637 -0.02771087 1.35890865] [-0.04834735 0.99875228 -0.01250649 0.09923125] [ 0.02707616 0.01382702 0.99953774 -0.07300344] [ 0. 0. 0. 1. ]] SLAMing on 12.915384750000001 meters Centerline goodness : 0.875489 Centerline is valid? [False, False] Translation: X:1.36, Y:0.09, Z:-0.07 [[ 0.99861288 0.04451748 -0.02811584 1.36077826] [-0.04491677 0.99889633 -0.01373318 0.08919888] [ 0.02747344 0.014977 0.99951033 -0.07455552] [ 0. 0. 0. 1. ]] SLAMing on 12.94538475 meters Centerline goodness : 0.877604 Centerline is valid? [False, False] Translation: X:1.36, Y:0.08, Z:-0.08 [[ 0.99875028 0.04140192 -0.02799563 1.36090791] [-0.04183613 0.99901028 -0.01510607 0.08132127] [ 0.0273425 0.01625842 0.9994939 -0.07521134] [ 0. 0. 0. 1. ]] SLAMing on 12.97538475 meters Centerline goodness : 0.877622 Centerline is valid? [False, False] Translation: X:1.36, Y:0.08, Z:-0.07 [[ 0.99874033 0.04166952 -0.02795344 1.36050199] [-0.04206132 0.99902277 -0.01357744 0.07699027] [ 0.02736036 0.01473609 0.99951701 -0.07447056] [ 0. 0. 0. 1. ]] SLAMing on 13.005384750000001 meters Centerline goodness : 0.880221 Centerline is valid? [False, False] Translation: X:1.36, Y:0.07, Z:-0.07 [[ 0.99873854 0.04178814 -0.02784028 1.36004418] [-0.04214252 0.99903631 -0.01226603 0.07240405] [ 0.02730087 0.01342382 0.99953712 -0.07387281] [ 0. 0. 0. 1. ]] SLAMing on 13.03538475 meters Centerline goodness : 0.883065 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.07 [[ 0.99886379 0.038872 -0.02756972 1.35835814] [-0.03926199 0.99913437 -0.01374781 0.06414611] [ 0.02701145 0.01481463 0.99952534 -0.07279601] [ 0. 0. 0. 1. ]] SLAMing on 13.06538475 meters Centerline goodness : 0.883661 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.07 [[ 0.99885811 0.0388087 -0.02786331 1.35882708] [-0.03917313 0.9991523 -0.01265456 0.059568 ] [ 0.02734858 0.01373161 0.99953164 -0.07247665] [ 0. 0. 0. 1. ]] SLAMing on 13.095384750000001 meters Centerline goodness : 0.884628 Centerline is valid? [False, False] Translation: X:1.36, Y:0.05, Z:-0.07 [[ 0.99887566 0.03839532 -0.02780666 1.35909191] [-0.03873491 0.9991801 -0.01177842 0.0532204 ] [ 0.02733163 0.01284227 0.99954393 -0.07273386] [ 0. 0. 0. 1. ]] SLAMing on 13.12538475 meters Centerline goodness : 0.882965 Centerline is valid? [False, False] Translation: X:1.36, Y:0.05, Z:-0.07 [[ 0.99885213 0.03928271 -0.02740955 1.35869445] [-0.03958618 0.99915974 -0.01061797 0.0492029 ] [ 0.02696942 0.01169082 0.99956789 -0.07340037] [ 0. 0. 0. 1. ]] SLAMing on 13.15538475 meters Centerline goodness : 0.882167 Centerline is valid? [False, False] Translation: X:1.36, Y:0.05, Z:-0.07 [[ 0.99883083 0.0399959 -0.02715315 1.3582206 ] [-0.0402812 0.99913792 -0.0100423 0.04772688] [ 0.02672809 0.01112432 0.99958084 -0.07366949] [ 0. 0. 0. 1. ]] SLAMing on 13.18538475 meters Centerline goodness : 0.884692 Centerline is valid? [False, False] Translation: X:1.36, Y:0.04, Z:-0.07 [[ 0.9987804 0.04154571 -0.02667725 1.35684418] [-0.04178145 0.99909196 -0.00834103 0.04381615] [ 0.02630649 0.00944547 0.9996093 -0.07337589] [ 0. 0. 0. 1. ]] SLAMing on 13.21538475 meters Centerline goodness : 0.884381 Centerline is valid? [False, False] Translation: X:1.36, Y:0.04, Z:-0.07 [[ 0.99874988 0.04244164 -0.0264082 1.35562837] [-0.04264171 0.99906549 -0.00705904 0.0411082 ] [ 0.02608392 0.00817631 0.99962632 -0.07248965] [ 0. 0. 0. 1. ]] SLAMing on 13.24538475 meters Centerline goodness : 0.883955 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:-0.07 [[ 0.99872245 0.04320497 -0.02620666 1.35468663] [-0.04337519 0.99904107 -0.0059615 0.03809581] [ 0.02592397 0.0070906 0.99963877 -0.07188909] [ 0. 0. 0. 1. ]] SLAMing on 13.27538475 meters Centerline goodness : 0.883345 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:-0.07 [[ 0.99869743 0.04380481 -0.02616457 1.35480572] [-0.04394447 0.99902251 -0.00478682 0.03296094] [ 0.0259293 0.00593038 0.99964619 -0.07236614] [ 0. 0. 0. 1. ]] SLAMing on 13.30538475 meters Centerline goodness : 0.881013 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.07 [[ 0.99872048 0.042945 -0.02670458 1.35759415] [-0.04307927 0.99906164 -0.00447312 0.0281824 ] [ 0.02648743 0.00561781 0.99963336 -0.07439748] [ 0. 0. 0. 1. ]] SLAMing on 13.335384750000001 meters Centerline goodness : 0.880130 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.07 [[ 0.99872782 0.04250847 -0.02712504 1.3588425 ] [-0.0426294 0.99908336 -0.00389546 0.02429519] [ 0.02693459 0.00504683 0.99962446 -0.07475048] [ 0. 0. 0. 1. ]] SLAMing on 13.36538475 meters Centerline goodness : 0.880775 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.07 [[ 0.9988681 0.03909528 -0.02709401 1.35806148] [-0.03927775 0.99920888 -0.00623512 0.01903788] [ 0.02682881 0.00729225 0.99961344 -0.07411011] [ 0. 0. 0. 1. ]] SLAMing on 13.39538475 meters Centerline goodness : 0.882928 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.07 [[ 0.99885788 0.03931202 -0.02715696 1.35788769] [-0.03946401 0.99920806 -0.00508312 0.01627621] [ 0.02693563 0.00614904 0.99961826 -0.07336381] [ 0. 0. 0. 1. ]] SLAMing on 13.425384750000001 meters Centerline goodness : 0.880860 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:-0.07 [[ 0.99885442 0.03948396 -0.02703445 1.35732708] [-0.03961053 0.99920653 -0.00416235 0.01397476] [ 0.02684865 0.00522844 0.99962584 -0.07264063] [ 0. 0. 0. 1. ]] SLAMing on 13.45538475 meters Centerline goodness : 0.883020 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:-0.07 [[ 0.99900549 0.03553037 -0.02693732 1.35670544] [-0.03573433 0.9993359 -0.00712816 0.01090203] [ 0.02666617 0.00808366 0.99961171 -0.07205295] [ 0. 0. 0. 1. ]] SLAMing on 13.48538475 meters Centerline goodness : 0.883460 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:-0.07 [[ 0.99915741 0.03046542 -0.02750139 1.35826468] [-0.03076564 0.99947084 -0.01056029 0.0068027 ] [ 0.02716512 0.01139749 0.99956598 -0.07222052] [ 0. 0. 0. 1. ]] SLAMing on 13.51538475 meters Centerline goodness : 0.880141 Centerline is valid? [False, False] Translation: X:1.36, Y:0.00, Z:-0.07 [[ 0.99917335 0.02926288 -0.02821889 1.36008884] [-0.02956304 0.99951006 -0.01027908 0.00424973] [ 0.02790427 0.01110481 0.99954892 -0.07197359] [ 0. 0. 0. 1. ]] SLAMing on 13.54538475 meters Centerline goodness : 0.881796 Centerline is valid? [False, False] Translation: X:1.36, Y:0.00, Z:-0.07 [[ 0.99932301 0.02281891 -0.02885848 1.36311468] [-0.023253 0.9996201 -0.01479693 0.00264969] [ 0.02850987 0.01545796 0.99947398 -0.07315847] [ 0. 0. 0. 1. ]] SLAMing on 13.57538475 meters Centerline goodness : 0.883019 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:-0.07 [[ 9.99342668e-01 2.07601936e-02 -2.97194631e-02 1.36614084e+00] [-2.12130272e-02 9.99662393e-01 -1.50035821e-02 1.16258107e-03] [ 2.93979523e-02 1.56241595e-02 9.99445669e-01 -7.35465806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.60538475 meters Centerline goodness : 0.884852 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:-0.08 [[ 9.99444366e-01 1.21569558e-02 -3.10349372e-02 1.37189731e+00] [-1.28035408e-02 9.99703309e-01 -2.07210924e-02 7.24776649e-04] [ 3.07738240e-02 2.11069361e-02 9.99303492e-01 -7.52336062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.63538475 meters Centerline goodness : 0.886965 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:-0.07 [[ 9.99440893e-01 1.04252932e-02 -3.17681386e-02 1.37401982e+00] [-1.10871597e-02 9.99723636e-01 -2.07298503e-02 -9.87523384e-04] [ 3.15432443e-02 2.10704785e-02 9.99280270e-01 -7.48642598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665384750000001 meters Centerline goodness : 0.888777 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:-0.08 [[ 9.99454409e-01 3.97254049e-03 -3.27887749e-02 1.37734561e+00] [-4.82384925e-03 9.99652245e-01 -2.59252866e-02 1.60532551e-05] [ 3.26743831e-02 2.60693101e-02 9.99126006e-01 -7.56375088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.69538475 meters Centerline goodness : 0.886623 Centerline is valid? [False, False] Translation: X:1.39, Y:0.00, Z:-0.08 [[ 9.99369377e-01 5.03532553e-04 -3.55048467e-02 1.38804958e+00] [-1.36883069e-03 9.99702529e-01 -2.43511742e-02 3.70370943e-03] [ 3.54820234e-02 2.43844180e-02 9.99072783e-01 -7.56297816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.72538475 meters Centerline goodness : 0.888017 Centerline is valid? [False, False] Translation: X:1.39, Y:0.01, Z:-0.08 [[ 9.99355407e-01 -6.60445600e-04 -3.58933733e-02 1.38987210e+00] [-2.67331405e-04 9.99666128e-01 -2.58371977e-02 8.32468116e-03] [ 3.58984536e-02 2.58301386e-02 9.99021574e-01 -7.66819675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755384750000001 meters Centerline goodness : 0.888294 Centerline is valid? [False, False] Translation: X:1.39, Y:0.01, Z:-0.08 [[ 0.99932499 0.00217413 -0.03667194 1.3917564 ] [-0.00301007 0.99973653 -0.02275541 0.01151376] [ 0.03661281 0.02285043 0.99906825 -0.07647263] [ 0. 0. 0. 1. ]] SLAMing on 13.78538475 meters Centerline goodness : 0.887442 Centerline is valid? [False, False] Translation: X:1.39, Y:0.02, Z:-0.07 [[ 0.99927111 0.0081746 -0.03728836 1.39147076] [-0.00883368 0.99980705 -0.01754479 0.0205589 ] [ 0.03713774 0.0178614 0.99915052 -0.07395908] [ 0. 0. 0. 1. ]] SLAMing on 13.81538475 meters Centerline goodness : 0.889112 Centerline is valid? [False, False] Translation: X:1.39, Y:0.02, Z:-0.07 [[ 0.99922004 0.01220356 -0.03755512 1.39077207] [-0.01273806 0.99982049 -0.01402627 0.02475257] [ 0.03737721 0.01449371 0.99919612 -0.0721222 ] [ 0. 0. 0. 1. ]] SLAMing on 13.845384750000001 meters Centerline goodness : 0.889245 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:-0.07 [[ 0.99908749 0.01894691 -0.03827809 1.39015197] [-0.01927725 0.9997799 -0.00827939 0.03493863] [ 0.03811279 0.00900973 0.99923283 -0.06878415] [ 0. 0. 0. 1. ]] SLAMing on 13.87538475 meters Centerline goodness : 0.885348 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:-0.07 [[ 0.99900554 0.02246777 -0.03851142 1.39034823] [-0.02268651 0.99972883 -0.0052525 0.04031482] [ 0.03838297 0.00612097 0.99924436 -0.06783936] [ 0. 0. 0. 1. ]] SLAMing on 13.90538475 meters Centerline goodness : 0.883624 Centerline is valid? [False, False] Translation: X:1.39, Y:0.05, Z:-0.07 [[ 9.98805141e-01 2.87804334e-02 -3.94965473e-02 1.39187589e+00] [-2.87608643e-02 9.99585755e-01 1.06369296e-03 5.16733445e-02] [ 3.95107996e-02 7.35328353e-05 9.99219141e-01 -6.50009190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93538475 meters Centerline goodness : 0.877590 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:-0.06 [[ 0.99856043 0.03576783 -0.03997164 1.39154367] [-0.03555726 0.99934983 0.00596692 0.06321474] [ 0.04015908 -0.00453705 0.999183 -0.06302191] [ 0. 0. 0. 1. ]] SLAMing on 13.96538475 meters Centerline goodness : 0.879788 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.06 [[ 0.99841331 0.039713 -0.03992167 1.39117481] [-0.03939831 0.99918624 0.00863909 0.06907181] [ 0.04023227 -0.00705253 0.99916547 -0.06227097] [ 0. 0. 0. 1. ]] SLAMing on 13.99538475 meters Centerline goodness : 0.879682 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.06 [[ 0.99824707 0.04378893 -0.03981595 1.39102527] [-0.04337299 0.99899559 0.01125161 0.07481734] [ 0.04026866 -0.00950495 0.99914368 -0.06201972] [ 0. 0. 0. 1. ]] SLAMing on 14.02538475 meters Centerline goodness : 0.875676 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.06 [[ 0.99767875 0.05526262 -0.03978895 1.39042767] [-0.05450344 0.99831487 0.01991952 0.08525235] [ 0.0408227 -0.01770465 0.99900954 -0.0604864 ] [ 0. 0. 0. 1. ]] SLAMing on 14.05538475 meters Centerline goodness : 0.875676 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.06 [[ 0.99767875 0.05526262 -0.03978895 1.39042767] [-0.05450344 0.99831487 0.01991952 0.08525235] [ 0.0408227 -0.01770465 0.99900954 -0.0604864 ] [ 0. 0. 0. 1. ]] SLAMing on 14.085384750000001 meters Centerline goodness : 0.874134 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.06 [[ 0.99743833 0.05962788 -0.03951309 1.39033537] [-0.05877073 0.99801765 0.02251155 0.0908558 ] [ 0.04077708 -0.02013167 0.99896544 -0.06077418] [ 0. 0. 0. 1. ]] SLAMing on 14.11538475 meters Centerline goodness : 0.875406 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.06 [[ 0.99664781 0.07187588 -0.03907688 1.39054356] [-0.07064265 0.99698586 0.03207504 0.09882262] [ 0.04126451 -0.02920703 0.99872128 -0.06070222] [ 0. 0. 0. 1. ]] SLAMing on 14.14538475 meters Centerline goodness : 0.875054 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99597799 0.08104553 -0.03820283 1.38897379] [-0.07956469 0.99607391 0.03881003 0.10504195] [ 0.04119823 -0.03561434 0.99851606 -0.05962975] [ 0. 0. 0. 1. ]] SLAMing on 14.175384750000001 meters Centerline goodness : 0.875221 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99589429 0.08211997 -0.0380903 1.38787537] [-0.08065181 0.99599456 0.03860216 0.10830129] [ 0.04110774 -0.03537162 0.99852842 -0.05883517] [ 0. 0. 0. 1. ]] SLAMing on 14.20538475 meters Centerline goodness : 0.875336 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99573478 0.08347557 -0.0392948 1.39000703] [-0.08202181 0.99593375 0.03726109 0.11014715] [ 0.04224541 -0.03387913 0.99853269 -0.05832207] [ 0. 0. 0. 1. ]] SLAMing on 14.23538475 meters Centerline goodness : 0.877103 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99573137 0.07689042 -0.05105786 1.39020296] [-0.07538442 0.99667885 0.03079692 0.11831758] [ 0.05325628 -0.02681649 0.99822074 -0.05708461] [ 0. 0. 0. 1. ]] SLAMing on 14.26538475 meters Centerline goodness : 0.878181 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99601588 0.07314499 -0.05101159 1.38948394] [-0.07185641 0.99705876 0.0266551 0.12009711] [ 0.05281124 -0.02288339 0.99834229 -0.05712359] [ 0. 0. 0. 1. ]] SLAMing on 14.29538475 meters Centerline goodness : 0.877777 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99630142 0.06892657 -0.05130894 1.38964156] [-0.06785961 0.9974466 0.02225633 0.12098073] [ 0.05271198 -0.01869221 0.9984348 -0.05748773] [ 0. 0. 0. 1. ]] SLAMing on 14.32538475 meters Centerline goodness : 0.879490 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99679936 0.06139504 -0.05120242 1.38803844] [-0.06068974 0.99804065 0.01521904 0.12020063] [ 0.05203647 -0.01206286 0.99857233 -0.05703643] [ 0. 0. 0. 1. ]] SLAMing on 14.35538475 meters Centerline goodness : 0.882648 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99706055 0.05707777 -0.05111158 1.38757813] [-0.05657564 0.99833528 0.01121887 0.11972219] [ 0.05166684 -0.00829422 0.99862993 -0.05725842] [ 0. 0. 0. 1. ]] SLAMing on 14.38538475 meters Centerline goodness : 0.882569 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99729328 0.05289879 -0.05106692 1.38707127] [-0.05258649 0.99858865 0.00744068 0.11906726] [ 0.05138845 -0.00473511 0.99866752 -0.0572786 ] [ 0. 0. 0. 1. ]] SLAMing on 14.41538475 meters Centerline goodness : 0.884149 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 9.97694543e-01 4.47143992e-02 -5.10511555e-02 1.38664792e+00] [-4.47747021e-02 9.98997109e-01 -3.76174593e-05 1.17523271e-01] [ 5.09982747e-02 2.32333101e-03 9.98696039e-01 -5.77736669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.44538475 meters Centerline goodness : 0.883688 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.06 [[ 0.99786908 0.04054098 -0.05112457 1.38675481] [-0.04079359 0.99915996 -0.00390689 0.11706271] [ 0.05092323 0.00598412 0.99868464 -0.05819681] [ 0. 0. 0. 1. ]] SLAMing on 14.47538475 meters Centerline goodness : 0.883246 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99804812 0.03572923 -0.05121889 1.38753684] [-0.03616758 0.99931641 -0.00765682 0.11471617] [ 0.05091031 0.00949433 0.9986581 -0.05917578] [ 0. 0. 0. 1. ]] SLAMing on 14.505384750000001 meters Centerline goodness : 0.887341 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99808009 0.03488015 -0.05118107 1.38800938] [-0.03531596 0.99934703 -0.00763521 0.11286141] [ 0.05088134 0.00942806 0.9986602 -0.05963865] [ 0. 0. 0. 1. ]] SLAMing on 14.53538475 meters Centerline goodness : 0.886654 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99808088 0.03476903 -0.05124134 1.38847207] [-0.03520647 0.99935071 -0.00765888 0.11263113] [ 0.05094178 0.00944821 0.99865693 -0.06007273] [ 0. 0. 0. 1. ]] SLAMing on 14.56538475 meters Centerline goodness : 0.885079 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99808256 0.03471611 -0.05124449 1.38896733] [-0.03515651 0.99935202 -0.00771757 0.11275525] [ 0.05094336 0.00950435 0.99865632 -0.06071056] [ 0. 0. 0. 1. ]] SLAMing on 14.595384750000001 meters Centerline goodness : 0.888037 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.9980895 0.03509792 -0.05084762 1.38846769] [-0.03553072 0.99933944 -0.00763282 0.11319627] [ 0.05054614 0.00942489 0.99867725 -0.06105805] [ 0. 0. 0. 1. ]] SLAMing on 14.62538475 meters Centerline goodness : 0.886063 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99807512 0.03558895 -0.0507886 1.38794621] [-0.03600363 0.99932519 -0.00727313 0.11298862] [ 0.05049549 0.0090877 0.99868294 -0.06059793] [ 0. 0. 0. 1. ]] SLAMing on 14.65538475 meters Centerline goodness : 0.885395 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 0.99792959 0.03960969 -0.05067152 1.38849306] [-0.0398222 0.99920169 -0.00319075 0.11211559] [ 0.05050469 0.005202 0.99871028 -0.0610842 ] [ 0. 0. 0. 1. ]] SLAMing on 14.68538475 meters Centerline goodness : 0.886580 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97783383e-01 4.31897450e-02 -5.06257495e-02 1.38968630e+00] [-4.32123685e-02 9.99065699e-01 6.48079995e-04 1.11573120e-01] [ 5.06064402e-02 1.54101510e-03 9.98717484e-01 -6.20966082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.71538475 meters Centerline goodness : 0.885950 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97779050e-01 4.33551042e-02 -5.05697732e-02 1.38975212e+00] [-4.33775342e-02 9.99058537e-01 6.54385259e-04 1.11863865e-01] [ 5.05505346e-02 1.54066017e-03 9.98720316e-01 -6.23648009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.74538475 meters Centerline goodness : 0.882891 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97780375e-01 4.32293426e-02 -5.06512395e-02 1.39005212e+00] [-4.32514786e-02 9.99063999e-01 6.59478210e-04 1.11541458e-01] [ 5.06323387e-02 1.53272659e-03 9.98716184e-01 -6.25439368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.77538475 meters Centerline goodness : 0.883340 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97777084e-01 4.33291872e-02 -5.06307518e-02 1.38965437e+00] [-4.33338461e-02 9.99060141e-01 1.00621408e-03 1.10613408e-01] [ 5.06267644e-02 1.19004785e-03 9.98716934e-01 -6.20580307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.80538475 meters Centerline goodness : 0.881897 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97779898e-01 4.31867539e-02 -5.06969450e-02 1.38945039e+00] [-4.31812635e-02 9.99066529e-01 1.20408893e-03 1.09859373e-01] [ 5.07016216e-02 9.87742406e-04 9.98713357e-01 -6.16119787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835384750000001 meters Centerline goodness : 0.884169 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.06 [[ 9.97986193e-01 4.07018144e-02 -4.86510115e-02 1.38641898e+00] [-4.07933099e-02 9.99167211e-01 -8.88813252e-04 1.11854506e-01] [ 4.85743192e-02 2.87165915e-03 9.98815443e-01 -6.15606927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.86538475 meters Centerline goodness : 0.883298 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.06 [[ 9.98167782e-01 3.89395859e-02 -4.63118504e-02 1.38349268e+00] [-3.89597565e-02 9.99240671e-01 4.67358591e-04 1.16051067e-01] [ 4.62948832e-02 1.33779613e-03 9.98926921e-01 -6.29715257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.89538475 meters Centerline goodness : 0.880196 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.06 [[ 9.98230730e-01 3.80948576e-02 -4.56529432e-02 1.38262967e+00] [-3.81359731e-02 9.99272559e-01 -2.96678720e-05 1.17807366e-01] [ 4.56186032e-02 1.77063480e-03 9.98957360e-01 -6.32794537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925384750000001 meters Centerline goodness : 0.880084 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.06 [[ 0.99839437 0.03529864 -0.04430233 1.38064824] [-0.0354171 0.99937083 -0.00189163 0.12156272] [ 0.04420769 0.00345765 0.99901638 -0.06364621] [ 0. 0. 0. 1. ]] SLAMing on 14.95538475 meters Centerline goodness : 0.880105 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.06 [[ 0.99840956 0.03470071 -0.04443219 1.38069676] [-0.03485067 0.99938914 -0.00260448 0.12324329] [ 0.04431467 0.00414883 0.99900901 -0.06331964] [ 0. 0. 0. 1. ]] SLAMing on 14.98538475 meters Centerline goodness : 0.881572 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:-0.06 [[ 0.9984336 0.03415558 -0.04431417 1.38008424] [-0.0343552 0.99940265 -0.00375076 0.12703349] [ 0.04415959 0.00526731 0.9990106 -0.06270949] [ 0. 0. 0. 1. ]] SLAMing on 15.01538475 meters Centerline goodness : 0.884204 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:-0.06 [[ 0.99843948 0.03389307 -0.0443832 1.3804455 ] [-0.03413513 0.99940614 -0.00470714 0.13056798] [ 0.0441973 0.00621482 0.99900349 -0.06301541] [ 0. 0. 0. 1. ]] SLAMing on 15.04538475 meters Centerline goodness : 0.886296 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:-0.06 [[ 0.99832703 0.03740922 -0.04408722 1.38122129] [-0.03755534 0.99929145 -0.00249052 0.13767092] [ 0.04396282 0.00414207 0.99902458 -0.06400923] [ 0. 0. 0. 1. ]] SLAMing on 15.07538475 meters Centerline goodness : 0.886979 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:-0.06 [[ 0.99831506 0.03771778 -0.0440955 1.38104435] [-0.03789128 0.99927704 -0.00310521 0.14184229] [ 0.04394649 0.00477082 0.99902249 -0.06378818] [ 0. 0. 0. 1. ]] SLAMing on 15.10538475 meters Centerline goodness : 0.892029 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.06 [[ 0.99819776 0.04061672 -0.04417592 1.38070197] [-0.04072698 0.99916903 -0.00159845 0.14810076] [ 0.04407429 0.00339472 0.99902249 -0.062859 ] [ 0. 0. 0. 1. ]] SLAMing on 15.13538475 meters Centerline goodness : 0.892504 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.06 [[ 0.99820471 0.04040015 -0.04421745 1.38088824] [-0.04056339 0.99917304 -0.00280044 0.15185679] [ 0.04406775 0.00458902 0.99901801 -0.06304623] [ 0. 0. 0. 1. ]] SLAMing on 15.16538475 meters Centerline goodness : 0.896825 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:-0.06 [[ 9.98067297e-01 4.35445711e-02 -4.43344202e-02 1.38173598e+00] [-4.36379913e-02 9.99046757e-01 -1.14108767e-03 1.58348442e-01] [ 4.42424706e-02 3.07354733e-03 9.99016095e-01 -6.33817052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.19538475 meters Centerline goodness : 0.895285 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:-0.06 [[ 0.99806562 0.04357654 -0.04434077 1.38167094] [-0.04371215 0.99904197 -0.00209298 0.16184318] [ 0.04420709 0.00402716 0.99901427 -0.06330866] [ 0. 0. 0. 1. ]] SLAMing on 15.22538475 meters Centerline goodness : 0.896130 Centerline is valid? [False, False] Translation: X:1.38, Y:0.17, Z:-0.06 [[ 0.99806159 0.04332363 -0.04467794 1.38260548] [-0.04351546 0.99904721 -0.00332959 0.1651652 ] [ 0.04449112 0.00526732 0.99899589 -0.06385978] [ 0. 0. 0. 1. ]] SLAMing on 15.255384750000001 meters Centerline goodness : 0.897242 Centerline is valid? [False, False] Translation: X:1.38, Y:0.17, Z:-0.06 [[ 0.99791207 0.04661994 -0.04469988 1.38362484] [-0.04673273 0.99890633 -0.00148099 0.17069688] [ 0.04458195 0.00356684 0.99899936 -0.06464137] [ 0. 0. 0. 1. ]] SLAMing on 15.28538475 meters Centerline goodness : 0.902609 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.07 [[ 9.97774202e-01 4.92425058e-02 -4.49646164e-02 1.38575481e+00] [-4.92726055e-02 9.98785271e-01 4.39341005e-04 1.74836629e-01] [ 4.49316309e-02 1.77716069e-03 9.98988484e-01 -6.60929400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.31538475 meters Centerline goodness : 0.901174 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.07 [[ 9.97796679e-01 4.86965050e-02 -4.50603885e-02 1.38626072e+00] [-4.87650182e-02 9.98810190e-01 -4.21829342e-04 1.76477322e-01] [ 4.49862335e-02 2.61827058e-03 9.98984176e-01 -6.65103328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345384750000001 meters Centerline goodness : 0.901401 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.07 [[ 0.99785678 0.0470383 -0.04548895 1.38833064] [-0.04721109 0.9988812 -0.00273114 0.18080926] [ 0.04530959 0.00487287 0.99896111 -0.06801656] [ 0. 0. 0. 1. ]] SLAMing on 15.37538475 meters Centerline goodness : 0.901270 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.07 [[ 0.99789316 0.0459938 -0.04575816 1.38945651] [-0.04622946 0.99892241 -0.00410463 0.18336905] [ 0.04552006 0.00621136 0.99894411 -0.06873675] [ 0. 0. 0. 1. ]] SLAMing on 15.40538475 meters Centerline goodness : 0.901423 Centerline is valid? [False, False] Translation: X:1.39, Y:0.19, Z:-0.07 [[ 0.9979264 0.0449251 -0.04609374 1.39054021] [-0.04522572 0.99896166 -0.00549942 0.1858897 ] [ 0.04579881 0.00757264 0.99892198 -0.06926049] [ 0. 0. 0. 1. ]] SLAMing on 15.43538475 meters Centerline goodness : 0.904743 Centerline is valid? [False, False] Translation: X:1.39, Y:0.19, Z:-0.07 [[ 0.99798727 0.04290201 -0.04669925 1.39228236] [-0.04331938 0.99902955 -0.00796202 0.18982663] [ 0.04631235 0.00996897 0.99887726 -0.06989088] [ 0. 0. 0. 1. ]] SLAMing on 15.46538475 meters Centerline goodness : 0.906745 Centerline is valid? [False, False] Translation: X:1.39, Y:0.19, Z:-0.07 [[ 0.99807433 0.04095586 -0.04658583 1.39148225] [-0.04148956 0.99908327 -0.01054726 0.19489572] [ 0.04611115 0.01245977 0.99885861 -0.06908026] [ 0. 0. 0. 1. ]] SLAMing on 15.49538475 meters Centerline goodness : 0.908471 Centerline is valid? [False, False] Translation: X:1.39, Y:0.20, Z:-0.07 [[ 0.99809823 0.04049862 -0.04647346 1.39114268] [-0.0410665 0.99909217 -0.01133013 0.19734027] [ 0.04597242 0.01321709 0.99885527 -0.06880421] [ 0. 0. 0. 1. ]] SLAMing on 15.52538475 meters Centerline goodness : 0.911564 Centerline is valid? [False, False] Translation: X:1.39, Y:0.20, Z:-0.07 [[ 0.99811167 0.04053246 -0.04615413 1.38955045] [-0.04112166 0.99908342 -0.01188843 0.20185919] [ 0.04562996 0.01376392 0.99886358 -0.06737451] [ 0. 0. 0. 1. ]] SLAMing on 15.55538475 meters Centerline goodness : 0.914177 Centerline is valid? [False, False] Translation: X:1.39, Y:0.20, Z:-0.07 [[ 0.99811244 0.04045113 -0.046209 1.38938351] [-0.0410633 0.9990799 -0.01237591 0.20382825] [ 0.04566586 0.01425004 0.99885513 -0.06702539] [ 0. 0. 0. 1. ]] SLAMing on 15.585384750000001 meters Centerline goodness : 0.913387 Centerline is valid? [False, False] Translation: X:1.39, Y:0.21, Z:-0.07 [[ 0.99797758 0.04374073 -0.04612472 1.38988581] [-0.04423335 0.998974 -0.00971376 0.2066222 ] [ 0.0456525 0.01173436 0.99888846 -0.0673017 ] [ 0. 0. 0. 1. ]] SLAMing on 15.61538475 meters Centerline goodness : 0.915285 Centerline is valid? [False, False] Translation: X:1.39, Y:0.21, Z:-0.07 [[ 0.99797457 0.04377003 -0.04616209 1.39007422] [-0.04430286 0.99896209 -0.01058279 0.20964885] [ 0.04565097 0.01260647 0.9988779 -0.06742714] [ 0. 0. 0. 1. ]] SLAMing on 15.64538475 meters Centerline goodness : 0.917009 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 0.99781265 0.04699447 -0.04649125 1.39180398] [-0.047458 0.99883344 -0.00891662 0.21521133] [ 0.04601799 0.0111035 0.9988789 -0.06838736] [ 0. 0. 0. 1. ]] SLAMing on 15.675384750000001 meters Centerline goodness : 0.912857 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 0.99781057 0.04696062 -0.04657 1.3926659 ] [-0.04746902 0.99882394 -0.00987106 0.21847363] [ 0.04605168 0.01206008 0.99886626 -0.06922991] [ 0. 0. 0. 1. ]] SLAMing on 15.70538475 meters Centerline goodness : 0.912285 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 0.99781896 0.04648577 -0.04686567 1.39386826] [-0.04705039 0.99883176 -0.01101685 0.22120446] [ 0.04629879 0.01319787 0.99884045 -0.07004368] [ 0. 0. 0. 1. ]] SLAMing on 15.73538475 meters Centerline goodness : 0.912210 Centerline is valid? [False, False] Translation: X:1.40, Y:0.22, Z:-0.07 [[ 0.99784824 0.04540341 -0.04730131 1.39567442] [-0.04605677 0.99885662 -0.01281508 0.22487262] [ 0.04666537 0.01496605 0.99879846 -0.07122214] [ 0. 0. 0. 1. ]] SLAMing on 15.76538475 meters Centerline goodness : 0.912750 Centerline is valid? [False, False] Translation: X:1.40, Y:0.23, Z:-0.07 [[ 0.99787134 0.04491135 -0.04728383 1.39589518] [-0.04560536 0.99886556 -0.01370194 0.22720048] [ 0.04661482 0.01582917 0.99878751 -0.07143757] [ 0. 0. 0. 1. ]] SLAMing on 15.79538475 meters Centerline goodness : 0.913027 Centerline is valid? [False, False] Translation: X:1.40, Y:0.23, Z:-0.07 [[ 0.9977691 0.04699534 -0.04741586 1.39759989] [-0.04762672 0.99878978 -0.01227464 0.23191343] [ 0.04678163 0.01450552 0.99879981 -0.07256237] [ 0. 0. 0. 1. ]] SLAMing on 15.82538475 meters Centerline goodness : 0.912023 Centerline is valid? [False, False] Translation: X:1.40, Y:0.24, Z:-0.07 [[ 0.99766324 0.04904985 -0.04756231 1.39982307] [-0.04962235 0.99870823 -0.01093113 0.23625888] [ 0.0469647 0.01326574 0.99880846 -0.07429127] [ 0. 0. 0. 1. ]] SLAMing on 15.85538475 meters Centerline goodness : 0.912572 Centerline is valid? [False, False] Translation: X:1.40, Y:0.24, Z:-0.08 [[ 0.99768592 0.04868044 -0.04746596 1.4004128 ] [-0.0493013 0.99871189 -0.01199758 0.2391924 ] [ 0.04682077 0.01430995 0.9988008 -0.07511062] [ 0. 0. 0. 1. ]] SLAMing on 15.88538475 meters Centerline goodness : 0.913252 Centerline is valid? [False, False] Translation: X:1.40, Y:0.24, Z:-0.08 [[ 0.99768159 0.0487041 -0.04753261 1.40105638] [-0.0493682 0.99869736 -0.01289835 0.24266378] [ 0.04684249 0.01521505 0.99878641 -0.07567869] [ 0. 0. 0. 1. ]] SLAMing on 15.91538475 meters Centerline goodness : 0.913252 Centerline is valid? [False, False] Translation: X:1.40, Y:0.24, Z:-0.08 [[ 0.99768159 0.0487041 -0.04753261 1.40105638] [-0.0493682 0.99869736 -0.01289835 0.24266378] [ 0.04684249 0.01521505 0.99878641 -0.07567869] [ 0. 0. 0. 1. ]] SLAMing on 15.94538475 meters Centerline goodness : 0.913845 Centerline is valid? [False, False] Translation: X:1.40, Y:0.25, Z:-0.07 [[ 0.99736553 0.05518628 -0.04707952 1.40049047] [-0.05561773 0.99842086 -0.00790311 0.24873976] [ 0.04656903 0.01050075 0.99885988 -0.07492462] [ 0. 0. 0. 1. ]] SLAMing on 15.97538475 meters Centerline goodness : 0.912282 Centerline is valid? [False, False] Translation: X:1.40, Y:0.25, Z:-0.07 [[ 0.99714714 0.05901797 -0.04705815 1.40035545] [-0.059311 0.99822775 -0.00485409 0.25116495] [ 0.04668827 0.00763131 0.99888036 -0.0742491 ] [ 0. 0. 0. 1. ]] SLAMing on 16.00538475 meters Centerline goodness : 0.913632 Centerline is valid? [False, False] Translation: X:1.40, Y:0.26, Z:-0.07 [[ 0.99685381 0.06393729 -0.04684546 1.39922929] [-0.06409685 0.99794185 -0.00191045 0.25655826] [ 0.0466269 0.00490709 0.99890032 -0.07257319] [ 0. 0. 0. 1. ]] SLAMing on 16.03538475 meters Centerline goodness : 0.915062 Centerline is valid? [False, False] Translation: X:1.40, Y:0.26, Z:-0.07 [[ 0.9968235 0.06416069 -0.04718378 1.39984605] [-0.06436285 0.9979227 -0.00277626 0.2595225 ] [ 0.04690764 0.00580432 0.99888237 -0.07262492] [ 0. 0. 0. 1. ]] SLAMing on 16.06538475 meters Centerline goodness : 0.914691 Centerline is valid? [False, False] Translation: X:1.40, Y:0.26, Z:-0.07 [[ 9.96555268e-01 6.81793386e-02 -4.72141482e-02 1.40046355e+00] [-6.82388138e-02 9.97668953e-01 3.52860000e-04 2.61599355e-01] [ 4.71281476e-02 2.87019298e-03 9.98884728e-01 -7.26473327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095384749999997 meters Centerline goodness : 0.912925 Centerline is valid? [False, False] Translation: X:1.40, Y:0.26, Z:-0.07 [[ 9.96480618e-01 6.87857445e-02 -4.79051166e-02 1.40214521e+00] [-6.88848308e-02 9.97624531e-01 -4.18592400e-04 2.63128516e-01] [ 4.77625263e-02 3.71705506e-03 9.98851803e-01 -7.28535220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.12538475 meters Centerline goodness : 0.913513 Centerline is valid? [False, False] Translation: X:1.40, Y:0.26, Z:-0.07 [[ 9.96376443e-01 6.97444135e-02 -4.86795730e-02 1.40402907e+00] [-6.98790595e-02 9.97554899e-01 -1.06754027e-03 2.64942803e-01] [ 4.84860915e-02 4.46535476e-03 9.98813876e-01 -7.29981389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15538475 meters Centerline goodness : 0.916224 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.99644928 0.06795597 -0.04970728 1.40540392] [-0.06824919 0.99765937 -0.00422367 0.26499421] [ 0.04930391 0.00760115 0.9987549 -0.07255503] [ 0. 0. 0. 1. ]] SLAMing on 16.185384749999997 meters Centerline goodness : 0.914871 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.99654939 0.06553797 -0.05093221 1.4065093 ] [-0.06597064 0.99779799 -0.00685914 0.26162045] [ 0.05037052 0.0101955 0.99867856 -0.07200249] [ 0. 0. 0. 1. ]] SLAMing on 16.21538475 meters Centerline goodness : 0.912886 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.9967691 0.06203579 -0.05101876 1.4063952 ] [-0.06263189 0.9979849 -0.01016795 0.26032241] [ 0.05028518 0.0133305 0.99864593 -0.0723135 ] [ 0. 0. 0. 1. ]] SLAMing on 16.24538475 meters Centerline goodness : 0.912333 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.9969891 0.05822451 -0.05121182 1.40629851] [-0.05893197 0.99818482 -0.01241346 0.25547166] [ 0.05039609 0.01539409 0.99861066 -0.07236351] [ 0. 0. 0. 1. ]] SLAMing on 16.275384749999997 meters Centerline goodness : 0.910918 Centerline is valid? [False, False] Translation: X:1.41, Y:0.25, Z:-0.07 [[ 0.99718637 0.05456919 -0.05139602 1.40624612] [-0.0554209 0.99834594 -0.01529385 0.25306108] [ 0.05047644 0.01809923 0.99856124 -0.07247276] [ 0. 0. 0. 1. ]] SLAMing on 16.305384749999998 meters Centerline goodness : 0.911658 Centerline is valid? [False, False] Translation: X:1.41, Y:0.25, Z:-0.07 [[ 0.9973628 0.05089868 -0.0517375 1.40631652] [-0.05188876 0.99849107 -0.01797601 0.24962761] [ 0.05074448 0.0206132 0.99849892 -0.07238381] [ 0. 0. 0. 1. ]] SLAMing on 16.33538475 meters Centerline goodness : 0.910757 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99772585 0.04291593 -0.05197445 1.40566737] [-0.04419231 0.99874278 -0.0236623 0.24194512] [ 0.05089362 0.02590536 0.99836804 -0.07202882] [ 0. 0. 0. 1. ]] SLAMing on 16.365384749999997 meters Centerline goodness : 0.910006 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99802011 0.03510486 -0.05218716 1.4054147 ] [-0.03669312 0.99888235 -0.02979358 0.23689787] [ 0.05108293 0.0316495 0.99819279 -0.07210607] [ 0. 0. 0. 1. ]] SLAMing on 16.395384749999998 meters Centerline goodness : 0.909905 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99803171 0.0349124 -0.05209442 1.40527246] [-0.03645296 0.99891679 -0.02892112 0.23360183] [ 0.05102829 0.03076319 0.99822329 -0.07208393] [ 0. 0. 0. 1. ]] SLAMing on 16.42538475 meters Centerline goodness : 0.909093 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99803962 0.03464446 -0.05212176 1.40594796] [-0.03615681 0.99894369 -0.02835807 0.23056338] [ 0.05108425 0.03018703 0.99823802 -0.07285921] [ 0. 0. 0. 1. ]] SLAMing on 16.455384749999997 meters Centerline goodness : 0.907836 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.998029 0.03466789 -0.05230926 1.4068003 ] [-0.03617667 0.99894809 -0.02817738 0.23006025] [ 0.05127739 0.03001422 0.99823333 -0.07347426] [ 0. 0. 0. 1. ]] SLAMing on 16.485384749999998 meters Centerline goodness : 0.907959 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99791875 0.0381077 -0.05201904 1.40678489] [-0.0394105 0.99892873 -0.02425281 0.22884173] [ 0.05103909 0.02625243 0.99835155 -0.07351946] [ 0. 0. 0. 1. ]] SLAMing on 16.51538475 meters Centerline goodness : 0.908809 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99791803 0.03820437 -0.05196188 1.40628148] [-0.03950748 0.99892409 -0.02428639 0.22968352] [ 0.05097812 0.02628871 0.99835371 -0.07298904] [ 0. 0. 0. 1. ]] SLAMing on 16.54538475 meters Centerline goodness : 0.909866 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99781131 0.04133972 -0.05161018 1.40568286] [-0.04248007 0.99887243 -0.02119704 0.23143499] [ 0.0506757 0.02334305 0.99844232 -0.07234167] [ 0. 0. 0. 1. ]] SLAMing on 16.575384749999998 meters Centerline goodness : 0.906865 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99781384 0.04122825 -0.05165057 1.40552716] [-0.04238366 0.99887053 -0.02147748 0.23276597] [ 0.05070675 0.02361967 0.99843424 -0.07199842] [ 0. 0. 0. 1. ]] SLAMing on 16.60538475 meters Centerline goodness : 0.906205 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.07 [[ 0.99783806 0.04052731 -0.05173725 1.40504577] [-0.04170663 0.99888939 -0.02192146 0.23370272] [ 0.05079137 0.02403185 0.99842011 -0.07103082] [ 0. 0. 0. 1. ]] SLAMing on 16.63538475 meters Centerline goodness : 0.907768 Centerline is valid? [False, False] Translation: X:1.40, Y:0.23, Z:-0.07 [[ 0.99784915 0.04019133 -0.05178545 1.40489862] [-0.04137537 0.99890147 -0.02199858 0.23376157] [ 0.05084441 0.02409391 0.99841591 -0.07068185] [ 0. 0. 0. 1. ]] SLAMing on 16.665384749999998 meters Centerline goodness : 0.907518 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99802717 0.035088 -0.05206348 1.40525154] [-0.0365324 0.99896616 -0.02705551 0.23722917] [ 0.05106033 0.02890414 0.99827721 -0.07060098] [ 0. 0. 0. 1. ]] SLAMing on 16.69538475 meters Centerline goodness : 0.906418 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99804242 0.03437477 -0.05224664 1.40569125] [-0.03585642 0.99897324 -0.02769098 0.23870885] [ 0.05124112 0.02951015 0.99825022 -0.07062165] [ 0. 0. 0. 1. ]] SLAMing on 16.72538475 meters Centerline goodness : 0.907297 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99796044 0.03603136 -0.05269435 1.40820002] [-0.03744602 0.99895748 -0.02611015 0.24282149] [ 0.05169863 0.02803009 0.99826928 -0.07181807] [ 0. 0. 0. 1. ]] SLAMing on 16.755384749999997 meters Centerline goodness : 0.906651 Centerline is valid? [False, False] Translation: X:1.41, Y:0.24, Z:-0.07 [[ 0.99783423 0.03888217 -0.05305687 1.41031068] [-0.04017623 0.99891516 -0.02354514 0.24478366] [ 0.05208382 0.02562577 0.99831388 -0.07302822] [ 0. 0. 0. 1. ]] SLAMing on 16.78538475 meters Centerline goodness : 0.904834 Centerline is valid? [False, False] Translation: X:1.41, Y:0.25, Z:-0.07 [[ 0.99765249 0.04349608 -0.05289235 1.41107646] [-0.04462983 0.99879435 -0.02044559 0.25222013] [ 0.05193927 0.02275817 0.99839089 -0.0731387 ] [ 0. 0. 0. 1. ]] SLAMing on 16.81538475 meters Centerline goodness : 0.904561 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.99749435 0.04682157 -0.05303547 1.41190757] [-0.04783836 0.99869169 -0.01806677 0.25615521] [ 0.05212017 0.02055863 0.99842918 -0.07321478] [ 0. 0. 0. 1. ]] SLAMing on 16.845384749999997 meters Centerline goodness : 0.904056 Centerline is valid? [False, False] Translation: X:1.41, Y:0.26, Z:-0.07 [[ 0.99713962 0.05378333 -0.05310307 1.41319467] [-0.05454173 0.99842769 -0.01293622 0.26236324] [ 0.05232382 0.01579555 0.99850524 -0.07341838] [ 0. 0. 0. 1. ]] SLAMing on 16.87538475 meters Centerline goodness : 0.903984 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.07 [[ 0.99693398 0.05734581 -0.05323617 1.41447966] [-0.05797162 0.99826525 -0.01028544 0.2653036 ] [ 0.052554 0.0133401 0.99852898 -0.07406602] [ 0. 0. 0. 1. ]] SLAMing on 16.90538475 meters Centerline goodness : 0.904231 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.08 [[ 0.99645184 0.06506118 -0.05339269 1.41693514] [-0.06541313 0.99784639 -0.00486916 0.27210305] [ 0.05296091 0.00834446 0.99856172 -0.07550952] [ 0. 0. 0. 1. ]] SLAMing on 16.935384749999997 meters Centerline goodness : 0.901199 Centerline is valid? [False, False] Translation: X:1.42, Y:0.28, Z:-0.08 [[ 0.9958752 0.07134364 -0.05605957 1.42316898] [-0.07169572 0.99741732 -0.00429198 0.27796249] [ 0.05560858 0.00829351 0.9984182 -0.07609412] [ 0. 0. 0. 1. ]] SLAMing on 16.96538475 meters Centerline goodness : 0.901859 Centerline is valid? [False, False] Translation: X:1.43, Y:0.28, Z:-0.08 [[ 0.99572233 0.07251898 -0.05725408 1.42565213] [-0.07297083 0.99731699 -0.00583851 0.28108438] [ 0.05667707 0.00999142 0.99834257 -0.07563118] [ 0. 0. 0. 1. ]] SLAMing on 16.99538475 meters Centerline goodness : 0.901120 Centerline is valid? [False, False] Translation: X:1.43, Y:0.28, Z:-0.07 [[ 0.99561296 0.07328715 -0.05817068 1.42726101] [-0.07383987 0.9972426 -0.00740681 0.28387619] [ 0.05746745 0.01166963 0.99827918 -0.07475943] [ 0. 0. 0. 1. ]] SLAMing on 17.025384749999997 meters Centerline goodness : 0.901175 Centerline is valid? [False, False] Translation: X:1.43, Y:0.29, Z:-0.07 [[ 0.99530236 0.07601493 -0.05995781 1.42978173] [-0.07666932 0.99701873 -0.00868695 0.28655966] [ 0.05911872 0.01324307 0.99816311 -0.07264627] [ 0. 0. 0. 1. ]] SLAMing on 17.055384749999998 meters Centerline goodness : 0.901069 Centerline is valid? [False, False] Translation: X:1.43, Y:0.29, Z:-0.07 [[ 0.99517175 0.07684417 -0.06105863 1.43164279] [-0.07755519 0.99694414 -0.00935814 0.2874373 ] [ 0.06015292 0.01404837 0.99809031 -0.07208494] [ 0. 0. 0. 1. ]] SLAMing on 17.08538475 meters Centerline goodness : 0.900630 Centerline is valid? [False, False] Translation: X:1.43, Y:0.29, Z:-0.07 [[ 0.99467645 0.08231464 -0.06199247 1.43378679] [-0.08282842 0.99654718 -0.00575963 0.2876131 ] [ 0.06130432 0.01086371 0.99806 -0.07141938] [ 0. 0. 0. 1. ]] SLAMing on 17.115384749999997 meters Centerline goodness : 0.902297 Centerline is valid? [False, False] Translation: X:1.44, Y:0.29, Z:-0.07 [[ 0.99454098 0.08319582 -0.06298169 1.43554955] [-0.0837674 0.99646423 -0.00648532 0.28860247] [ 0.06221944 0.01172573 0.99799361 -0.07091242] [ 0. 0. 0. 1. ]] SLAMing on 17.145384749999998 meters Centerline goodness : 0.899539 Centerline is valid? [False, False] Translation: X:1.44, Y:0.29, Z:-0.07 [[ 0.99421074 0.08589481 -0.06455302 1.43743445] [-0.08645436 0.99623822 -0.00591995 0.28693004] [ 0.06380169 0.01146657 0.99789672 -0.06926051] [ 0. 0. 0. 1. ]] SLAMing on 17.17538475 meters Centerline goodness : 0.898182 Centerline is valid? [False, False] Translation: X:1.44, Y:0.29, Z:-0.07 [[ 0.99403322 0.08718535 -0.06554893 1.43887976] [-0.08775334 0.99612517 -0.00583087 0.28644568] [ 0.06478658 0.01154822 0.99783232 -0.06855017] [ 0. 0. 0. 1. ]] SLAMing on 17.205384749999997 meters Centerline goodness : 0.899063 Centerline is valid? [False, False] Translation: X:1.44, Y:0.28, Z:-0.07 [[ 0.99355526 0.09098848 -0.06759466 1.44217495] [-0.09148127 0.99579784 -0.00422466 0.28302623] [ 0.06692622 0.01038108 0.99770392 -0.0676959 ] [ 0. 0. 0. 1. ]] SLAMing on 17.235384749999998 meters Centerline goodness : 0.900152 Centerline is valid? [False, False] Translation: X:1.44, Y:0.28, Z:-0.07 [[ 0.99338821 0.09227731 -0.068299 1.44301198] [-0.09271795 0.99568693 -0.00330325 0.28069145] [ 0.06769961 0.00961396 0.99765943 -0.06719689] [ 0. 0. 0. 1. ]] SLAMing on 17.26538475 meters Centerline goodness : 0.901364 Centerline is valid? [False, False] Translation: X:1.44, Y:0.27, Z:-0.07 [[ 9.93009392e-01 9.51535076e-02 -6.98438043e-02 1.44404180e+00] [-9.54566863e-02 9.95433074e-01 -1.00850061e-03 2.73089501e-01] [ 6.94288704e-02 7.66850869e-03 9.97557430e-01 -6.56166629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.29538475 meters Centerline goodness : 0.899451 Centerline is valid? [False, False] Translation: X:1.45, Y:0.27, Z:-0.07 [[ 0.9930704 0.09334275 -0.07140247 1.44582501] [-0.09383508 0.99558137 -0.00356495 0.27031402] [ 0.07075421 0.0102403 0.99744122 -0.0651021 ] [ 0. 0. 0. 1. ]] SLAMing on 17.325384749999998 meters Centerline goodness : 0.893938 Centerline is valid? [False, False] Translation: X:1.45, Y:0.26, Z:-0.06 [[ 0.99292962 0.09394715 -0.07255826 1.44612205] [-0.0943078 0.99554188 -0.00155306 0.259239 ] [ 0.07208888 0.00838489 0.99736297 -0.06467374] [ 0. 0. 0. 1. ]] SLAMing on 17.35538475 meters Centerline goodness : 0.895143 Centerline is valid? [False, False] Translation: X:1.45, Y:0.25, Z:-0.06 [[ 0.99300975 0.0923941 -0.07345039 1.44596366] [-0.09283341 0.99567831 -0.00258251 0.2537772 ] [ 0.07289435 0.00938311 0.99729553 -0.06373878] [ 0. 0. 0. 1. ]] SLAMing on 17.38538475 meters Centerline goodness : 0.896667 Centerline is valid? [False, False] Translation: X:1.45, Y:0.24, Z:-0.06 [[ 0.99300194 0.09023815 -0.0761855 1.44784706] [-0.0908521 0.99585366 -0.00462453 0.24222463] [ 0.0754523 0.01151378 0.99708294 -0.06225556] [ 0. 0. 0. 1. ]] SLAMing on 17.415384749999998 meters Centerline goodness : 0.896856 Centerline is valid? [False, False] Translation: X:1.45, Y:0.24, Z:-0.06 [[ 0.99287905 0.09042965 -0.07754791 1.44880425] [-0.0910572 0.9958351 -0.00458766 0.23604678] [ 0.07681007 0.01161629 0.99697807 -0.0614893 ] [ 0. 0. 0. 1. ]] SLAMing on 17.44538475 meters Centerline goodness : 0.899498 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:-0.06 [[ 0.99261748 0.09122323 -0.0799303 1.45146083] [-0.09177853 0.995774 -0.00329347 0.22362747] [ 0.07929208 0.01060505 0.99679501 -0.06118005] [ 0. 0. 0. 1. ]] SLAMing on 17.47538475 meters Centerline goodness : 0.898149 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:-0.06 [[ 0.99254431 0.09049715 -0.08164598 1.453723 ] [-0.09115517 0.99582715 -0.00436065 0.21805517] [ 0.08091066 0.0117706 0.99665185 -0.06108508] [ 0. 0. 0. 1. ]] SLAMing on 17.505384749999997 meters Centerline goodness : 0.900793 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:-0.06 [[ 0.99232215 0.09154748 -0.08316128 1.45281138] [-0.0920658 0.99575001 -0.00241124 0.20340493] [ 0.08258711 0.01004904 0.99653318 -0.05870913] [ 0. 0. 0. 1. ]] SLAMing on 17.53538475 meters Centerline goodness : 0.903944 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:-0.06 [[ 0.99244886 0.08948094 -0.08389535 1.45225699] [-0.09008191 0.99592856 -0.00339786 0.19722733] [ 0.08324973 0.01092966 0.99646878 -0.05781106] [ 0. 0. 0. 1. ]] SLAMing on 17.56538475 meters Centerline goodness : 0.900908 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.06 [[ 0.99274036 0.08525934 -0.08483767 1.4513248 ] [-0.08589118 0.9962972 -0.00381902 0.18313462] [ 0.08419792 0.0110781 0.99638747 -0.05733797] [ 0. 0. 0. 1. ]] SLAMing on 17.595384749999997 meters Centerline goodness : 0.899275 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.06 [[ 0.99293408 0.08213482 -0.08564919 1.45203773] [-0.08285182 0.9965501 -0.00484455 0.17540287] [ 0.0849558 0.01190651 0.99631358 -0.0581648 ] [ 0. 0. 0. 1. ]] SLAMing on 17.62538475 meters Centerline goodness : 0.888704 Centerline is valid? [False, False] Translation: X:1.46, Y:0.16, Z:-0.06 [[ 0.99342515 0.07237897 -0.08870041 1.45539588] [-0.07362529 0.99722688 -0.01085635 0.16093118] [ 0.08766866 0.01731557 0.99599919 -0.05898374] [ 0. 0. 0. 1. ]] SLAMing on 17.65538475 meters Centerline goodness : 0.891140 Centerline is valid? [False, False] Translation: X:1.46, Y:0.16, Z:-0.06 [[ 0.99368423 0.06636603 -0.0904832 1.45768093] [-0.06808134 0.99755145 -0.0160011 0.15529733] [ 0.08919972 0.02206026 0.99576943 -0.0595683 ] [ 0. 0. 0. 1. ]] SLAMing on 17.685384749999997 meters Centerline goodness : 0.887982 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.06 [[ 0.99378405 0.06051221 -0.09344271 1.46229344] [-0.06254572 0.99786149 -0.01898633 0.14132845] [ 0.09209397 0.02471276 0.99544361 -0.06116138] [ 0. 0. 0. 1. ]] SLAMing on 17.71538475 meters Centerline goodness : 0.885970 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.06 [[ 0.99377235 0.05881167 -0.09464515 1.46473815] [-0.06095575 0.99794164 -0.01992205 0.13501082] [ 0.09327869 0.02556714 0.99531171 -0.06247856] [ 0. 0. 0. 1. ]] SLAMing on 17.74538475 meters Centerline goodness : 0.881252 Centerline is valid? [False, False] Translation: X:1.46, Y:0.12, Z:-0.06 [[ 0.99382323 0.05939006 -0.09374548 1.46344736] [-0.06139375 0.99793967 -0.01863378 0.12237455] [ 0.09244567 0.02427407 0.9954218 -0.06424913] [ 0. 0. 0. 1. ]] SLAMing on 17.775384749999997 meters Centerline goodness : 0.879603 Centerline is valid? [False, False] Translation: X:1.46, Y:0.12, Z:-0.06 [[ 0.9937597 0.06098934 -0.09339144 1.4627148 ] [-0.0627746 0.99789467 -0.01629627 0.11579831] [ 0.09220092 0.02205718 0.99549609 -0.06444414] [ 0. 0. 0. 1. ]] SLAMing on 17.805384749999998 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.07 [[ 0.99384917 0.0615818 -0.09204077 1.46033994] [-0.06324732 0.9978808 -0.01528676 0.10321857] [ 0.09090433 0.02101406 0.99563789 -0.06615122] [ 0. 0. 0. 1. ]] SLAMing on 17.83538475 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.07 [[ 0.99384917 0.0615818 -0.09204077 1.46033994] [-0.06324732 0.9978808 -0.01528676 0.10321857] [ 0.09090433 0.02101406 0.99563789 -0.06615122] [ 0. 0. 0. 1. ]] SLAMing on 17.865384749999997 meters Centerline goodness : 0.884864 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.07 [[ 0.99379048 0.06294868 -0.09174941 1.45977319] [-0.06442983 0.99783402 -0.01326893 0.09611368] [ 0.09071542 0.01909794 0.99569372 -0.06655296] [ 0. 0. 0. 1. ]] SLAMing on 17.895384749999998 meters Centerline goodness : 0.887565 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.07 [[ 0.99390534 0.0626994 -0.09066948 1.45825781] [-0.06410962 0.99786176 -0.01272268 0.0838684 ] [ 0.0896779 0.01845793 0.99579977 -0.06837286] [ 0. 0. 0. 1. ]] SLAMing on 17.92538475 meters Centerline goodness : 0.889372 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.07 [[ 0.99385951 0.0638982 -0.09033434 1.45753494] [-0.06511541 0.99782155 -0.01058919 0.07751659] [ 0.08946092 0.01640632 0.9958552 -0.06844956] [ 0. 0. 0. 1. ]] SLAMing on 17.955384749999997 meters Centerline goodness : 0.889083 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:-0.07 [[ 0.99399997 0.06252763 -0.08974608 1.45684283] [-0.0636171 0.99793079 -0.00932794 0.06460533] [ 0.08897712 0.01498136 0.995921 -0.06890718] [ 0. 0. 0. 1. ]] SLAMing on 17.985384749999998 meters Centerline goodness : 0.892547 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:-0.07 [[ 0.99419857 0.05954247 -0.08957622 1.45607443] [-0.06080344 0.99808452 -0.01141237 0.05873171] [ 0.08872512 0.01679271 0.99591458 -0.06925129] [ 0. 0. 0. 1. ]] SLAMing on 18.01538475 meters Centerline goodness : 0.894261 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.07 [[ 0.9945657 0.05459915 -0.08864538 1.45323893] [-0.05608824 0.99832206 -0.01439339 0.04582057] [ 0.08771077 0.01928713 0.99595925 -0.06919595] [ 0. 0. 0. 1. ]] SLAMing on 18.045384749999997 meters Centerline goodness : 0.899462 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:-0.07 [[ 0.99475699 0.05172826 -0.08821967 1.45178355] [-0.05338831 0.99843649 -0.01656101 0.04065429] [ 0.08722507 0.02118408 0.99596336 -0.06931487] [ 0. 0. 0. 1. ]] SLAMing on 18.075384749999998 meters Centerline goodness : 0.900374 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.07 [[ 0.99490813 0.05001675 -0.08749934 1.44983004] [-0.05155499 0.99855129 -0.01540789 0.0275639 ] [ 0.08660193 0.01984046 0.99604541 -0.06822649] [ 0. 0. 0. 1. ]] SLAMing on 18.10538475 meters Centerline goodness : 0.901328 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.07 [[ 0.99503443 0.04827026 -0.0870429 1.4491747 ] [-0.04977363 0.99864511 -0.0151835 0.01615405] [ 0.08619205 0.01944054 0.99608885 -0.06875531] [ 0. 0. 0. 1. ]] SLAMing on 18.13538475 meters Centerline goodness : 0.900764 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:-0.07 [[ 0.99501152 0.04861533 -0.08711271 1.44981417] [-0.04999212 0.99865575 -0.01369214 0.01074234] [ 0.08632996 0.01797878 0.99610436 -0.06916619] [ 0. 0. 0. 1. ]] SLAMing on 18.165384749999998 meters Centerline goodness : 0.902913 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:-0.07 [[ 9.95164891e-01 4.64890614e-02 -8.65194039e-02 1.44974094e+00] [-4.79083063e-02 9.98747945e-01 -1.43991965e-02 1.21524241e-03] [ 8.57416717e-02 1.84745729e-02 9.96146102e-01 -7.08042306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19538475 meters Centerline goodness : 0.905430 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:-0.07 [[ 0.99513144 0.04702183 -0.08661625 1.44982137] [-0.04827554 0.99875664 -0.01243584 -0.0055599 ] [ 0.0859238 0.01655674 0.99616413 -0.07039357] [ 0. 0. 0. 1. ]] SLAMing on 18.22538475 meters Centerline goodness : 0.905122 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.07 [[ 0.99523722 0.04465762 -0.08665201 1.44941205] [-0.0458846 0.99887201 -0.01221921 -0.01738418] [ 0.08600858 0.01613701 0.9961637 -0.06954562] [ 0. 0. 0. 1. ]] SLAMing on 18.255384749999997 meters Centerline goodness : 0.907517 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.07 [[ 0.99520489 0.04485851 -0.08691914 1.45011414] [-0.04596306 0.99888532 -0.01074738 -0.02315147] [ 0.08634015 0.01469091 0.9961574 -0.06948877] [ 0. 0. 0. 1. ]] SLAMing on 18.28538475 meters Centerline goodness : 0.907880 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.03, Z:-0.07 [[ 0.99534482 0.04246709 -0.08651726 1.4511772 ] [-0.04363172 0.99898017 -0.0116142 -0.03173976] [ 0.0859358 0.01533503 0.99618265 -0.07156131] [ 0. 0. 0. 1. ]] SLAMing on 18.31538475 meters Centerline goodness : 0.906342 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.04, Z:-0.07 [[ 0.99531572 0.04293685 -0.08662007 1.45135932] [-0.04396996 0.99898227 -0.01005359 -0.03657515] [ 0.08610024 0.01381517 0.99619069 -0.07122668] [ 0. 0. 0. 1. ]] SLAMing on 18.345384749999997 meters Centerline goodness : 0.911130 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.05, Z:-0.07 [[ 0.99544917 0.04099874 -0.08602362 1.44872577] [-0.04208921 0.99905439 -0.01090055 -0.04534205] [ 0.08549536 0.01447161 0.99623346 -0.07034147] [ 0. 0. 0. 1. ]] SLAMing on 18.37538475 meters Centerline goodness : 0.913077 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.05, Z:-0.07 [[ 0.99541587 0.04161813 -0.0861114 1.44829591] [-0.04256014 0.99905217 -0.00913195 -0.05058726] [ 0.08564972 0.01275501 0.99624366 -0.06927799] [ 0. 0. 0. 1. ]] SLAMing on 18.40538475 meters Centerline goodness : 0.913102 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.06, Z:-0.07 [[ 0.99554977 0.03835292 -0.08607963 1.44860749] [-0.03944013 0.99916177 -0.01096479 -0.05766063] [ 0.08558694 0.01431098 0.99622792 -0.06992233] [ 0. 0. 0. 1. ]] SLAMing on 18.435384749999997 meters Centerline goodness : 0.911416 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.06, Z:-0.07 [[ 0.99551907 0.03807057 -0.0865587 1.45034459] [-0.03905985 0.99918917 -0.00976365 -0.06234211] [ 0.0861168 0.01310087 0.99619891 -0.07010492] [ 0. 0. 0. 1. ]] SLAMing on 18.46538475 meters Centerline goodness : 0.910723 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.07, Z:-0.07 [[ 0.99561674 0.03462742 -0.08688061 1.45310647] [-0.03575253 0.99929534 -0.01142715 -0.07039607] [ 0.0864237 0.01448326 0.99615319 -0.07216143] [ 0. 0. 0. 1. ]] SLAMing on 18.49538475 meters Centerline goodness : 0.912424 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.08, Z:-0.07 [[ 0.99558026 0.03485438 -0.08720732 1.4539169 ] [-0.03585535 0.99930758 -0.00993763 -0.07509753] [ 0.08680057 0.01302056 0.99614062 -0.07173424] [ 0. 0. 0. 1. ]] SLAMing on 18.525384749999997 meters Centerline goodness : 0.910693 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.08, Z:-0.07 [[ 0.99569367 0.03178771 -0.08708418 1.45349194] [-0.03294805 0.99938599 -0.01191921 -0.0815303 ] [ 0.08665182 0.01473714 0.99612965 -0.07190262] [ 0. 0. 0. 1. ]] SLAMing on 18.555384749999998 meters Centerline goodness : 0.909418 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.07 [[ 0.99564884 0.03225269 -0.08742511 1.45364104] [-0.03328441 0.99939213 -0.01036893 -0.08590429] [ 0.08703754 0.0132337 0.99611713 -0.07083477] [ 0. 0. 0. 1. ]] SLAMing on 18.58538475 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.07 [[ 0.99559356 0.03312361 -0.08772846 1.45361145] [-0.03391889 0.99939577 -0.00758974 -0.09379106] [ 0.08742405 0.01053194 0.99611551 -0.06907422] [ 0. 0. 0. 1. ]] SLAMing on 18.615384749999997 meters Centerline goodness : 0.912029 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.07 [[ 0.99559391 0.03388696 -0.08743254 1.45281878] [-0.03459811 0.99937931 -0.00663081 -0.09647471] [ 0.08715357 0.0096266 0.99614837 -0.06895843] [ 0. 0. 0. 1. ]] SLAMing on 18.645384749999998 meters Centerline goodness : 0.912472 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.07 [[ 0.99560124 0.03552839 -0.08669434 1.45113189] [-0.03611518 0.99933406 -0.0052089 -0.10026509] [ 0.08645154 0.00831696 0.99622134 -0.06932877] [ 0. 0. 0. 1. ]] SLAMing on 18.67538475 meters Centerline goodness : 0.913403 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.07 [[ 0.99556714 0.0374617 -0.08627101 1.44895601] [-0.03789241 0.99927618 -0.00335984 -0.10479043] [ 0.0860827 0.00661396 0.99626604 -0.06838269] [ 0. 0. 0. 1. ]] SLAMing on 18.705384749999997 meters Centerline goodness : 0.912146 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.11, Z:-0.07 [[ 0.99554456 0.03838698 -0.0861247 1.44787451] [-0.03871989 0.99924769 -0.00219766 -0.10738299] [ 0.08597554 0.0055226 0.99628194 -0.06751242] [ 0. 0. 0. 1. ]] SLAMing on 18.735384749999998 meters Centerline goodness : 0.915059 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.11, Z:-0.07 [[ 9.95530115e-01 3.95480547e-02 -8.57656242e-02 1.44638598e+00] [-3.97798286e-02 9.99207975e-01 -9.94403995e-04 -1.10336148e-01] [ 8.56583689e-02 4.40170095e-03 9.96314844e-01 -6.68883846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.76538475 meters Centerline goodness : 0.914196 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.12, Z:-0.07 [[ 9.95484667e-01 4.06259438e-02 -8.57893336e-02 1.44610198e+00] [-4.07275269e-02 9.99170129e-01 5.66515997e-04 -1.15846456e-01] [ 8.57411548e-02 2.93002940e-03 9.96313138e-01 -6.67284510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795384749999997 meters Centerline goodness : 0.914627 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.12, Z:-0.07 [[ 9.95460624e-01 4.09095790e-02 -8.59334213e-02 1.44657867e+00] [-4.09631454e-02 9.99160007e-01 1.14061484e-03 -1.18279779e-01] [ 8.59078999e-02 2.38466608e-03 9.96300229e-01 -6.69834808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825384749999998 meters Centerline goodness : 0.915340 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.12, Z:-0.07 [[ 0.99543561 0.04132913 -0.0860224 1.44767871] [-0.04131047 0.99914436 0.00199778 -0.12254343] [ 0.08603136 0.00156497 0.9962912 -0.06813182] [ 0. 0. 0. 1. ]] SLAMing on 18.85538475 meters Centerline goodness : 0.911068 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.13, Z:-0.07 [[ 9.95415059e-01 4.15146700e-02 -8.61707137e-02 1.44820351e+00] [-4.14438203e-02 9.99137422e-01 2.61176367e-03 -1.25268090e-01] [ 8.62048113e-02 9.71454678e-04 9.96276963e-01 -6.82932018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.88538475 meters Centerline goodness : 0.913126 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.13, Z:-0.07 [[ 9.95372370e-01 4.15693107e-02 -8.66362409e-02 1.44901704e+00] [-4.14157357e-02 9.99135622e-01 3.57010100e-03 -1.28950415e-01] [ 8.67097611e-02 3.45237655e-05 9.96233615e-01 -6.76752945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915384749999998 meters Centerline goodness : 0.917076 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.14, Z:-0.07 [[ 0.99547351 0.0380826 -0.08707587 1.44863744] [-0.03808374 0.99927319 0.00164877 -0.13609839] [ 0.08707537 0.00167486 0.99620032 -0.06613807] [ 0. 0. 0. 1. ]] SLAMing on 18.94538475 meters Centerline goodness : 0.918209 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.14, Z:-0.07 [[ 9.95585758e-01 3.40505728e-02 -8.74617489e-02 1.44936583e+00] [-3.42451547e-02 9.99413200e-01 -7.24847356e-04 -1.41973248e-01] [ 8.73857449e-02 3.71678883e-03 9.96167615e-01 -6.56903617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97538475 meters Centerline goodness : 0.921174 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.15, Z:-0.07 [[ 9.95558462e-01 3.33060013e-02 -8.80571365e-02 1.45161797e+00] [-3.34437769e-02 9.99440596e-01 -8.93209841e-05 -1.45348896e-01] [ 8.80049021e-02 3.03388749e-03 9.96115421e-01 -6.58060446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005384749999997 meters Centerline goodness : 0.918870 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.15, Z:-0.07 [[ 0.99567303 0.02910656 -0.08824977 1.45584217] [-0.02939369 0.999566 -0.00195563 -0.1512507 ] [ 0.08815455 0.00454115 0.99609646 -0.06812462] [ 0. 0. 0. 1. ]] SLAMing on 19.03538475 meters Centerline goodness : 0.921329 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.16, Z:-0.07 [[ 9.95654739e-01 2.84459648e-02 -8.86705582e-02 1.45735884e+00] [-2.86312092e-02 9.99589708e-01 -8.17694769e-04 -1.55389320e-01] [ 8.86109173e-02 3.35288698e-03 9.96060673e-01 -6.72694562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.06538475 meters Centerline goodness : 0.926582 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.16, Z:-0.06 [[ 9.95734472e-01 2.34567951e-02 -8.92336297e-02 1.45827781e+00] [-2.36509346e-02 9.99719652e-01 -1.11877025e-03 -1.62843053e-01] [ 8.91823704e-02 3.22445684e-03 9.96010094e-01 -6.23799955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095384749999997 meters Centerline goodness : 0.927976 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.06 [[ 9.95698620e-01 2.27955330e-02 -8.98032380e-02 1.45946267e+00] [-2.28894300e-02 9.99738003e-01 -1.57364277e-05 -1.65833468e-01] [ 8.97793511e-02 2.07121367e-03 9.95959526e-01 -6.06757435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.12538475 meters Centerline goodness : 0.929453 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.06 [[ 9.95621196e-01 2.14871353e-02 -9.09765779e-02 1.46199466e+00] [-2.15057165e-02 9.99768424e-01 7.76157871e-04 -1.67445080e-01] [ 9.09721873e-02 1.18375726e-03 9.95852730e-01 -5.85427226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15538475 meters Centerline goodness : 0.928564 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.06 [[ 9.95592675e-01 2.04544485e-02 -9.15250861e-02 1.46429697e+00] [-2.04970416e-02 9.99789801e-01 4.74673876e-04 -1.67327340e-01] [ 9.15155568e-02 1.40341166e-03 9.95802658e-01 -5.90172165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185384749999997 meters Centerline goodness : 0.926351 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.17, Z:-0.06 [[ 9.95569861e-01 1.81185977e-02 -9.22625010e-02 1.46861824e+00] [-1.82423664e-02 9.99833470e-01 -4.98250450e-04 -1.66791493e-01] [ 9.22381089e-02 2.17912948e-03 9.95734594e-01 -6.05501140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters Centerline goodness : 0.923815 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.17, Z:-0.06 [[ 9.95521427e-01 1.69200194e-02 -9.30096892e-02 1.47120721e+00] [-1.70404056e-02 9.99854677e-01 -5.00252677e-04 -1.66892333e-01] [ 9.29877084e-02 2.08293508e-03 9.95665078e-01 -6.03828962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.24538475 meters Centerline goodness : 0.926344 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.17, Z:-0.06 [[ 9.95424050e-01 1.38456462e-02 -9.45476533e-02 1.47648010e+00] [-1.38992426e-02 9.99903397e-01 9.16812930e-05 -1.67904952e-01] [ 9.45397891e-02 1.22287901e-03 9.95520333e-01 -5.81278801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275384749999997 meters Centerline goodness : 0.926229 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.17, Z:-0.06 [[ 9.95342553e-01 1.27066297e-02 -9.55601628e-02 1.47882355e+00] [-1.27203642e-02 9.99918985e-01 4.65471125e-04 -1.69289000e-01] [ 9.55583355e-02 7.52256856e-04 9.95423547e-01 -5.68682672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305384749999998 meters Centerline goodness : 0.926721 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.06 [[ 9.95213866e-01 9.16051428e-03 -9.72905215e-02 1.48502148e+00] [-9.13781297e-03 9.99958019e-01 6.78910260e-04 -1.69766352e-01] [ 9.72926563e-02 2.13361685e-04 9.95255793e-01 -5.50175761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33538475 meters Centerline goodness : 0.923592 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.05 [[ 0.99506506 0.0104274 -0.09867516 1.49034714] [-0.00989952 0.99993396 0.00583788 -0.17114457] [ 0.09872951 -0.00483223 0.99510257 -0.05207926] [ 0. 0. 0. 1. ]] SLAMing on 19.365384749999997 meters Centerline goodness : 0.926261 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.05 [[ 0.99502059 0.00930913 -0.09923391 1.4922605 ] [-0.00879337 0.99994547 0.0056336 -0.16969195] [ 0.09928094 -0.00473295 0.99504819 -0.05168627] [ 0. 0. 0. 1. ]] SLAMing on 19.395384749999998 meters Centerline goodness : 0.924045 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.05 [[ 0.99499964 0.00893415 -0.09947814 1.49296722] [-0.00844006 0.99994987 0.00538651 -0.16827521] [ 0.09952128 -0.00451997 0.99502517 -0.05159908] [ 0. 0. 0. 1. ]] SLAMing on 19.42538475 meters Centerline goodness : 0.922594 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.05 [[ 0.99489015 0.01254523 -0.10018084 1.49418917] [-0.0116709 0.99988856 0.00930887 -0.16645542] [ 0.10028646 -0.0080921 0.9949257 -0.05021616] [ 0. 0. 0. 1. ]] SLAMing on 19.455384749999997 meters Centerline goodness : 0.923163 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.16, Z:-0.05 [[ 0.9949036 0.0131125 -0.09997449 1.49288262] [-0.01227531 0.99988429 0.00898463 -0.16423149] [ 0.10008073 -0.00771162 0.99494943 -0.04996857] [ 0. 0. 0. 1. ]] SLAMing on 19.485384749999998 meters Centerline goodness : 0.922969 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.16, Z:-0.05 [[ 0.99478546 0.01832345 -0.10033011 1.49106799] [-0.01707542 0.99976596 0.01328398 -0.16154083] [ 0.10055004 -0.01150153 0.99486552 -0.04729858] [ 0. 0. 0. 1. ]] SLAMing on 19.51538475 meters Centerline goodness : 0.919810 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.16, Z:-0.05 [[ 0.99480934 0.01928639 -0.09991199 1.48913362] [-0.01810376 0.99975507 0.01273002 -0.15805389] [ 0.10013303 -0.01085516 0.99491484 -0.04745964] [ 0. 0. 0. 1. ]] SLAMing on 19.545384749999997 meters Centerline goodness : 0.920561 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.99472971 0.02455133 -0.09954913 1.48696381] [-0.02303113 0.99960036 0.01639166 -0.15380729] [ 0.09991178 -0.01401254 0.99489762 -0.04656452] [ 0. 0. 0. 1. ]] SLAMing on 19.575384749999998 meters Centerline goodness : 0.919474 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.9947511 0.02467761 -0.0993039 1.4866503 ] [-0.02325733 0.99961035 0.01543492 -0.15082059] [ 0.0996461 -0.01304436 0.99493743 -0.0476388 ] [ 0. 0. 0. 1. ]] SLAMing on 19.60538475 meters Centerline goodness : 0.914073 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.99459531 0.02795311 -0.09999393 1.4889579 ] [-0.02623934 0.99948609 0.0184133 -0.14785019] [ 0.10045725 -0.01569001 0.99481765 -0.04804495] [ 0. 0. 0. 1. ]] SLAMing on 19.63538475 meters Centerline goodness : 0.914450 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.99457538 0.02761046 -0.10028694 1.48962308] [-0.02594311 0.99950329 0.01789225 -0.14652335] [ 0.10073114 -0.01519343 0.99479767 -0.04822604] [ 0. 0. 0. 1. ]] SLAMing on 19.665384749999998 meters Centerline goodness : 0.915954 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.14, Z:-0.05 [[ 0.99466383 0.02341649 -0.10047655 1.48913546] [-0.02220728 0.99966708 0.01313653 -0.14448045] [ 0.10075071 -0.01083512 0.9948527 -0.04843379] [ 0. 0. 0. 1. ]] SLAMing on 19.69538475 meters Centerline goodness : 0.916327 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.99462999 0.02293284 -0.10092213 1.49012498] [-0.02169888 0.99967598 0.01330779 -0.14511084] [ 0.10119461 -0.01104643 0.99480532 -0.04788654] [ 0. 0. 0. 1. ]] SLAMing on 19.72538475 meters Centerline goodness : 0.916327 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.15, Z:-0.05 [[ 0.99462999 0.02293284 -0.10092213 1.49012498] [-0.02169888 0.99967598 0.01330779 -0.14511084] [ 0.10119461 -0.01104643 0.99480532 -0.04788654] [ 0. 0. 0. 1. ]] SLAMing on 19.755384749999997 meters Centerline goodness : 0.914759 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.14, Z:-0.05 [[ 0.99459571 0.02131592 -0.10161203 1.49301172] [-0.02012121 0.99971601 0.01276824 -0.1449677 ] [ 0.10185534 -0.01065468 0.99474216 -0.04831995] [ 0. 0. 0. 1. ]] SLAMing on 19.78538475 meters Centerline goodness : 0.913909 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.9945544 0.02046441 -0.1021898 1.49511191] [-0.01930791 0.999738 0.01229364 -0.14442203] [ 0.10241461 -0.01025362 0.99468895 -0.04891808] [ 0. 0. 0. 1. ]] SLAMing on 19.81538475 meters Centerline goodness : 0.914861 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99452671 0.01965641 -0.102617 1.49665286] [-0.01854956 0.99975914 0.01172948 -0.14331728] [ 0.10282284 -0.00976178 0.99465178 -0.04926266] [ 0. 0. 0. 1. ]] SLAMing on 19.845384749999997 meters Centerline goodness : 0.914924 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99449535 0.01912591 -0.10302033 1.49793486] [-0.01806081 0.99977346 0.01126171 -0.1423699 ] [ 0.10321239 -0.00933908 0.9946155 -0.04964615] [ 0. 0. 0. 1. ]] SLAMing on 19.87538475 meters Centerline goodness : 0.914468 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99444641 0.0184769 -0.10360959 1.49916584] [-0.01742258 0.99978691 0.01107181 -0.14164034] [ 0.10379208 -0.00920517 0.99455642 -0.04910773] [ 0. 0. 0. 1. ]] SLAMing on 19.90538475 meters Centerline goodness : 0.913567 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99441657 0.01828491 -0.10392955 1.4992867 ] [-0.01718973 0.99978698 0.01142375 -0.14177434] [ 0.10411629 -0.00957344 0.99451905 -0.04792825] [ 0. 0. 0. 1. ]] SLAMing on 19.935384749999997 meters Centerline goodness : 0.911252 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99438817 0.01734724 -0.10436111 1.50001113] [-0.0161979 0.99979858 0.01185061 -0.14217686] [ 0.10454567 -0.01009368 0.99446886 -0.04620068] [ 0. 0. 0. 1. ]] SLAMing on 19.96538475 meters Centerline goodness : 0.912631 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.05 [[ 0.99435748 0.01668584 -0.10476059 1.50097064] [-0.01549677 0.99980604 0.01215418 -0.14250018] [ 0.10494308 -0.01046215 0.9944232 -0.04529224] [ 0. 0. 0. 1. ]] SLAMing on 19.99538475 meters Centerline goodness : 0.916100 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.04 [[ 0.99431373 0.0160989 -0.10526649 1.50187537] [-0.01484519 0.99980937 0.01268253 -0.14294903] [ 0.10545059 -0.01104771 0.99436317 -0.04393978] [ 0. 0. 0. 1. ]] SLAMing on 20.025384749999997 meters Centerline goodness : 0.913525 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.04 [[ 0.99441083 0.01148943 -0.10495278 1.50136507] [-0.01071865 0.99991131 0.00790519 -0.13990948] [ 0.1050343 -0.00673606 0.99444579 -0.04446191] [ 0. 0. 0. 1. ]] SLAMing on 20.055384749999998 meters Centerline goodness : 0.915867 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.04 [[ 0.99437529 0.01011509 -0.10542992 1.50338168] [-0.00942441 0.99993076 0.00704725 -0.13730402] [ 0.1054939 -0.006014 0.99440176 -0.04473024] [ 0. 0. 0. 1. ]] SLAMing on 20.08538475 meters Centerline goodness : 0.913596 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:-0.04 [[ 0.99429038 0.01276458 -0.10594197 1.5056168 ] [-0.01166161 0.99987123 0.01102407 -0.13780344] [ 0.10606904 -0.00972568 0.9943112 -0.04389047] [ 0. 0. 0. 1. ]] SLAMing on 20.115384749999997 meters Centerline goodness : 0.911065 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.04 [[ 0.99428936 0.01159628 -0.10608576 1.50669368] [-0.01063236 0.99989694 0.00964732 -0.13349778] [ 0.1061867 -0.00846429 0.99431018 -0.04450158] [ 0. 0. 0. 1. ]] SLAMing on 20.145384749999998 meters Centerline goodness : 0.911774 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.04 [[ 0.99428682 0.01091161 -0.10618221 1.50726538] [-0.0100149 0.99990958 0.00897457 -0.13166081] [ 0.10627053 -0.0078599 0.99430619 -0.04469363] [ 0. 0. 0. 1. ]] SLAMing on 20.17538475 meters Centerline goodness : 0.912091 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.04 [[ 0.99411084 0.01120911 -0.10778683 1.51255335] [-0.00985512 0.9998658 0.01308623 -0.12937233] [ 0.10791905 -0.01194691 0.9940879 -0.04101658] [ 0. 0. 0. 1. ]] SLAMing on 20.205384749999997 meters Centerline goodness : 0.908178 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.04 [[ 0.99408304 0.01037189 -0.10812646 1.51345946] [-0.00909122 0.99988265 0.01233049 -0.12671762] [ 0.10824166 -0.01127453 0.99406068 -0.04084762] [ 0. 0. 0. 1. ]] SLAMing on 20.235384749999998 meters Centerline goodness : 0.908848 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.04 [[ 0.99403711 0.00798917 -0.10874925 1.51623985] [-0.00691723 0.99992374 0.01023068 -0.11932878] [ 0.10882269 -0.00941743 0.99401657 -0.04138003] [ 0. 0. 0. 1. ]] SLAMing on 20.26538475 meters Centerline goodness : 0.905486 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.04 [[ 0.99397588 0.00640569 -0.10941169 1.51844086] [-0.00546858 0.99994577 0.00886289 -0.11528877] [ 0.10946253 -0.00821117 0.99395701 -0.04170579] [ 0. 0. 0. 1. ]] SLAMing on 20.295384749999997 meters Centerline goodness : 0.906685 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:-0.04 [[ 0.99392243 0.00497927 -0.10997003 1.52027352] [-0.00414871 0.99996113 0.00778011 -0.11213401] [ 0.11000449 -0.00727659 0.99390445 -0.04186701] [ 0. 0. 0. 1. ]] SLAMing on 20.325384749999998 meters Centerline goodness : 0.904950 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.04 [[ 9.93673615e-01 -4.92532896e-05 -1.12306477e-01 1.52762622e+00] [ 7.14560307e-04 9.99982435e-01 5.88378619e-03 -1.05394176e-01] [ 1.12304215e-01 -5.92681284e-03 9.93656196e-01 -4.02535727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35538475 meters Centerline goodness : 0.905814 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.04 [[ 0.99357842 -0.00183813 -0.11313069 1.52997734] [ 0.00238315 0.9999862 0.00468255 -0.10201368] [ 0.11312052 -0.00492209 0.99356908 -0.04018091] [ 0. 0. 0. 1. ]] SLAMing on 20.38538475 meters Centerline goodness : 0.906300 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.09, Z:-0.04 [[ 0.99332926 -0.00649068 -0.11512968 1.53659768] [ 0.00673821 0.99997575 0.0017609 -0.09185148] [ 0.11511546 -0.00252492 0.99334891 -0.04011497] [ 0. 0. 0. 1. ]] SLAMing on 20.415384749999998 meters Centerline goodness : 0.902631 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.08, Z:-0.04 [[ 9.93263045e-01 -7.73207298e-03 -1.15623261e-01 1.53844527e+00] [ 7.84125931e-03 9.99969137e-01 4.89510052e-04 -7.91030338e-02] [ 1.15615908e-01 -1.39284422e-03 9.93293019e-01 -3.95840715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.44538475 meters Centerline goodness : 0.903733 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.07, Z:-0.04 [[ 0.99319486 -0.00510289 -0.11635264 1.53995642] [ 0.00549294 0.99998032 0.00303188 -0.07404317] [ 0.11633488 -0.00365037 0.99320334 -0.03890446] [ 0. 0. 0. 1. ]] SLAMing on 20.47538475 meters Centerline goodness : 0.903261 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.07, Z:-0.04 [[ 0.99306346 -0.0026357 -0.11755005 1.54247288] [ 0.00330122 0.99997961 0.00546724 -0.06815121] [ 0.11753324 -0.00581738 0.99305191 -0.0381725 ] [ 0. 0. 0. 1. ]] SLAMing on 20.505384749999997 meters Centerline goodness : 0.899320 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:-0.04 [[ 0.99293559 -0.00168637 -0.11864264 1.54590661] [ 0.00235061 0.99998234 0.00545895 -0.05307417] [ 0.11863134 -0.00569927 0.99292201 -0.03861345] [ 0. 0. 0. 1. ]] SLAMing on 20.53538475 meters Centerline goodness : 0.896274 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:-0.04 [[ 9.92802244e-01 8.67887675e-04 -1.19762059e-01 1.54807712e+00] [ 4.18175580e-05 9.99971170e-01 7.59321633e-03 -4.66641802e-02] [ 1.19765196e-01 -7.54357037e-03 9.92773586e-01 -3.80304791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.56538475 meters Centerline goodness : 0.893225 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.04 [[ 0.99256777 0.00558453 -0.12156494 1.55207475] [-0.00428891 0.99993121 0.01091691 -0.03082411] [ 0.12161754 -0.01031439 0.99252344 -0.03763497] [ 0. 0. 0. 1. ]] SLAMing on 20.595384749999997 meters Centerline goodness : 0.889065 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.04 [[ 0.99239621 0.01126938 -0.1225674 1.55402336] [-0.0095942 0.99985245 0.01424904 -0.01462797] [ 0.12270989 -0.01296475 0.9923579 -0.03752174] [ 0. 0. 0. 1. ]] SLAMing on 20.62538475 meters Centerline goodness : 0.886787 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.04 [[ 0.9922943 0.01520433 -0.12296686 1.5536148 ] [-0.01322652 0.99976996 0.01688456 -0.00733608] [ 0.12319529 -0.01512803 0.99226713 -0.03617024] [ 0. 0. 0. 1. ]] SLAMing on 20.65538475 meters Centerline goodness : 0.884798 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.03 [[ 9.92204431e-01 1.98172272e-02 -1.23035139e-01 1.55221729e+00] [-1.74831407e-02 9.99646673e-01 2.00217234e-02 -2.04115462e-04] [ 1.23388443e-01 -1.77146020e-02 9.92200325e-01 -3.44228360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685384749999997 meters Centerline goodness : 0.880516 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.03 [[ 0.99191036 0.03052198 -0.12321627 1.55052186] [-0.02730965 0.99924382 0.02767626 0.01485528] [ 0.12396783 -0.02408738 0.99199384 -0.0318668 ] [ 0. 0. 0. 1. ]] SLAMing on 20.71538475 meters Centerline goodness : 0.880837 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.03 [[ 0.99178388 0.03456116 -0.1231676 1.55052522] [-0.03108499 0.99906539 0.03003443 0.02384233] [ 0.12409051 -0.025959 0.99193129 -0.03179336] [ 0. 0. 0. 1. ]] SLAMing on 20.74538475 meters Centerline goodness : 0.875601 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.03 [[ 0.99126516 0.04533452 -0.12384737 1.55151792] [-0.04095703 0.99845064 0.0376674 0.03741048] [ 0.12536312 -0.03226596 0.9915861 -0.03093275] [ 0. 0. 0. 1. ]] SLAMing on 20.775384749999997 meters Centerline goodness : 0.873266 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.03 [[ 0.99087764 0.05305113 -0.12388336 1.55046065] [-0.04819343 0.99795936 0.04188681 0.04822234] [ 0.1258527 -0.03553434 0.99141233 -0.0299612 ] [ 0. 0. 0. 1. ]] SLAMing on 20.805384749999998 meters Centerline goodness : 0.873379 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.03 [[ 0.99064709 0.05694281 -0.12399943 1.55072274] [-0.05178751 0.99767012 0.04441147 0.05298585] [ 0.12623944 -0.03757448 0.99128793 -0.0296883 ] [ 0. 0. 0. 1. ]] SLAMing on 20.83538475 meters Centerline goodness : 0.872388 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.03 [[ 0.99041817 0.06094544 -0.12392538 1.55096689] [-0.05550562 0.99735684 0.0468877 0.05825335] [ 0.12645541 -0.03955987 0.99118315 -0.02981352] [ 0. 0. 0. 1. ]] SLAMing on 20.865384749999997 meters Centerline goodness : 0.869556 Centerline is valid? [False, False] Translation: X:1.55, Y:0.07, Z:-0.03 [[ 0.98997969 0.06919237 -0.12309599 1.54922929] [-0.06319247 0.99664572 0.05200022 0.06863361] [ 0.12628111 -0.04370042 0.99103146 -0.02900378] [ 0. 0. 0. 1. ]] SLAMing on 20.895384749999998 meters Centerline goodness : 0.868716 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:-0.03 [[ 0.98953495 0.07576846 -0.12279949 1.54752089] [-0.06924564 0.99599566 0.05654812 0.07687283] [ 0.12659232 -0.04745301 0.99081915 -0.02700238] [ 0. 0. 0. 1. ]] SLAMing on 20.92538475 meters Centerline goodness : 0.870591 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:-0.03 [[ 0.9895461 0.07607194 -0.12252175 1.54620514] [-0.06965683 0.99600786 0.05582358 0.0808328 ] [ 0.12627923 -0.04670553 0.99089462 -0.02631086] [ 0. 0. 0. 1. ]] SLAMing on 20.955384749999997 meters Centerline goodness : 0.873744 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.03 [[ 0.98952262 0.0770016 -0.12212998 1.544648 ] [-0.07068563 0.99596807 0.05523712 0.08788781] [ 0.12589091 -0.04602555 0.99097585 -0.02540758] [ 0. 0. 0. 1. ]] SLAMing on 20.985384749999998 meters Centerline goodness : 0.873842 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.03 [[ 0.99044359 0.08656564 -0.10736795 1.5424714 ] [-0.08042602 0.9949374 0.06025965 0.08685509] [ 0.1120408 -0.05104861 0.9923915 -0.0296529 ] [ 0. 0. 0. 1. ]] SLAMing on 21.01538475 meters Centerline goodness : 0.873057 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.03 [[ 0.99101 0.09650654 -0.09265883 1.54059829] [-0.09070288 0.99375877 0.06493456 0.08559195] [ 0.09834713 -0.05594638 0.9935783 -0.03427524] [ 0. 0. 0. 1. ]] SLAMing on 21.045384749999997 meters Centerline goodness : 0.873368 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.03 [[ 0.99074983 0.10009335 -0.09163018 1.54039114] [-0.0941454 0.99329514 0.06709253 0.09060182] [ 0.09773133 -0.05784535 0.99353032 -0.03495587] [ 0. 0. 0. 1. ]] SLAMing on 21.075384749999998 meters Centerline goodness : 0.872755 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.04 [[ 0.99070993 0.10047925 -0.0916393 1.54113303] [-0.09461396 0.99330672 0.06625676 0.0927921 ] [ 0.09768336 -0.05697087 0.99358557 -0.03550294] [ 0. 0. 0. 1. ]] SLAMing on 21.10538475 meters Centerline goodness : 0.874981 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.04 [[ 0.99088407 0.09979998 -0.09049152 1.53926842] [-0.0940755 0.99341009 0.06546907 0.09666997] [ 0.096429 -0.05635922 0.99374297 -0.0355025 ] [ 0. 0. 0. 1. ]] SLAMing on 21.135384749999997 meters Centerline goodness : 0.875379 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.04 [[ 0.99102542 0.09855053 -0.0903129 1.53871657] [-0.09298453 0.99361478 0.06390256 0.0982568 ] [ 0.09603387 -0.05493136 0.99386118 -0.03521355] [ 0. 0. 0. 1. ]] SLAMing on 21.165384749999998 meters Centerline goodness : 0.879691 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.03 [[ 0.99124411 0.09699623 -0.08959265 1.53709067] [-0.09167541 0.99387456 0.06171685 0.10192406] [ 0.09503016 -0.05296302 0.99406448 -0.03465683] [ 0. 0. 0. 1. ]] SLAMing on 21.19538475 meters Centerline goodness : 0.879722 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.03 [[ 0.99130593 0.09618961 -0.08977808 1.53775312] [-0.09098412 0.99401986 0.06038546 0.1037557 ] [ 0.09504965 -0.05169209 0.99412951 -0.03499301] [ 0. 0. 0. 1. ]] SLAMing on 21.22538475 meters Centerline goodness : 0.881704 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.04 [[ 0.99127531 0.09687382 -0.08937968 1.53782719] [-0.09173428 0.99397845 0.05993043 0.10677482] [ 0.09464717 -0.05120837 0.99419295 -0.03544502] [ 0. 0. 0. 1. ]] SLAMing on 21.255384749999997 meters Centerline goodness : 0.882653 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.04 [[ 0.99129757 0.09667222 -0.08935106 1.53845713] [-0.09156992 0.99401655 0.05954879 0.10774792] [ 0.09457315 -0.0508487 0.99421845 -0.03618677] [ 0. 0. 0. 1. ]] SLAMing on 21.28538475 meters Centerline goodness : 0.881831 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.04 [[ 0.99138074 0.09596034 -0.08919555 1.53906089] [-0.09093803 0.99412093 0.05876944 0.10937496] [ 0.0943107 -0.05015163 0.99427879 -0.03718589] [ 0. 0. 0. 1. ]] SLAMing on 21.31538475 meters Centerline goodness : 0.882001 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.04 [[ 0.99151631 0.09507336 -0.08863671 1.53951713] [-0.09007618 0.99419892 0.05877738 0.1097589 ] [ 0.09371069 -0.05029467 0.99432829 -0.03901879] [ 0. 0. 0. 1. ]] SLAMing on 21.345384749999997 meters Centerline goodness : 0.882051 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.04 [[ 0.99190524 0.09038524 -0.08918799 1.54107492] [-0.08581615 0.994857 0.05380656 0.11232766] [ 0.09359261 -0.04571724 0.99456038 -0.04061963] [ 0. 0. 0. 1. ]] SLAMing on 21.37538475 meters Centerline goodness : 0.883295 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.04 [[ 0.99235481 0.08443519 -0.09001461 1.54413283] [-0.080364 0.99561217 0.04793786 0.1161628 ] [ 0.09366728 -0.04033743 0.99478607 -0.04310536] [ 0. 0. 0. 1. ]] SLAMing on 21.40538475 meters Centerline goodness : 0.881476 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.04 [[ 0.99271633 0.07948696 -0.09053237 1.54500209] [-0.07584703 0.99619334 0.04296574 0.11825586] [ 0.09360296 -0.03578618 0.99496625 -0.04386078] [ 0. 0. 0. 1. ]] SLAMing on 21.435384749999997 meters Centerline goodness : 0.883745 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.04 [[ 0.99337908 0.06981485 -0.09123535 1.54525035] [-0.06700117 0.99718864 0.03355078 0.12169485] [ 0.09332119 -0.02721577 0.99526401 -0.04405396] [ 0. 0. 0. 1. ]] SLAMing on 21.46538475 meters Centerline goodness : 0.884912 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.04 [[ 0.99368485 0.06465308 -0.09170827 1.5460289 ] [-0.06229257 0.99765449 0.0283754 0.12425022] [ 0.09332773 -0.02248346 0.99538155 -0.04464315] [ 0. 0. 0. 1. ]] SLAMing on 21.49538475 meters Centerline goodness : 0.886920 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.05 [[ 0.99400093 0.05862474 -0.09233245 1.54764568] [-0.05680069 0.99813729 0.022263 0.12868647] [ 0.09346563 -0.0168849 0.99547932 -0.04567514] [ 0. 0. 0. 1. ]] SLAMing on 21.525384749999997 meters Centerline goodness : 0.884502 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.05 [[ 0.99403153 0.05778329 -0.09253332 1.5483308 ] [-0.05605776 0.99820366 0.02114168 0.1309574 ] [ 0.09358873 -0.01582829 0.99548512 -0.04603308] [ 0. 0. 0. 1. ]] SLAMing on 21.555384749999998 meters Centerline goodness : 0.885901 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.05 [[ 0.99406986 0.05686823 -0.09268831 1.54944056] [-0.05533454 0.9982864 0.01903566 0.13886001] [ 0.093612 -0.01379391 0.99551319 -0.04676694] [ 0. 0. 0. 1. ]] SLAMing on 21.58538475 meters Centerline goodness : 0.888075 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.05 [[ 0.99408456 0.05632721 -0.09286083 1.55004131] [-0.05494056 0.99833759 0.01742394 0.14363202] [ 0.0936879 -0.01221905 0.99552663 -0.04718519] [ 0. 0. 0. 1. ]] SLAMing on 21.615384749999997 meters Centerline goodness : 0.887923 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.05 [[ 0.99392601 0.0588429 -0.09299788 1.55101045] [-0.05737341 0.99818323 0.01839903 0.15030777] [ 0.09391158 -0.01295167 0.99549629 -0.0475573 ] [ 0. 0. 0. 1. ]] SLAMing on 21.645384749999998 meters Centerline goodness : 0.887923 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.05 [[ 0.99392601 0.0588429 -0.09299788 1.55101045] [-0.05737341 0.99818323 0.01839903 0.15030777] [ 0.09391158 -0.01295167 0.99549629 -0.0475573 ] [ 0. 0. 0. 1. ]] SLAMing on 21.67538475 meters Centerline goodness : 0.887113 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.05 [[ 0.99394032 0.05806773 -0.09333156 1.55189377] [-0.05673892 0.99824717 0.01683083 0.15384449] [ 0.0941453 -0.0114333 0.99549281 -0.04795248] [ 0. 0. 0. 1. ]] SLAMing on 21.705384749999997 meters Centerline goodness : 0.886444 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.05 [[ 0.99396723 0.05718097 -0.09359214 1.55276992] [-0.05600276 0.99831537 0.01516936 0.15766287] [ 0.09430187 -0.00983643 0.99549505 -0.04843378] [ 0. 0. 0. 1. ]] SLAMing on 21.735384749999998 meters Centerline goodness : 0.888175 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.05 [[ 0.99384327 0.05909858 -0.09371719 1.55454134] [-0.05784423 0.99819664 0.01604736 0.16451145] [ 0.09449656 -0.01052756 0.99546952 -0.04950371] [ 0. 0. 0. 1. ]] SLAMing on 21.76538475 meters Centerline goodness : 0.886921 Centerline is valid? [False, False] Translation: X:1.56, Y:0.17, Z:-0.05 [[ 0.99392901 0.05653063 -0.09438972 1.55725013] [-0.05553859 0.99837052 0.0131063 0.1703305 ] [ 0.09497682 -0.00778446 0.99544905 -0.0509642 ] [ 0. 0. 0. 1. ]] SLAMing on 21.795384749999997 meters Centerline goodness : 0.887853 Centerline is valid? [False, False] Translation: X:1.56, Y:0.17, Z:-0.05 [[ 0.99415802 0.05227902 -0.09442847 1.55689097] [-0.05169364 0.99862565 0.00863645 0.1738579 ] [ 0.09475019 -0.00370464 0.99549419 -0.05087395] [ 0. 0. 0. 1. ]] SLAMing on 21.825384749999998 meters Centerline goodness : 0.886891 Centerline is valid? [False, False] Translation: X:1.56, Y:0.18, Z:-0.05 [[ 0.99418578 0.05103321 -0.09481687 1.55809661] [-0.05056246 0.99869376 0.00736226 0.17570345] [ 0.09506874 -0.00252528 0.99546751 -0.05136633] [ 0. 0. 0. 1. ]] SLAMing on 21.85538475 meters Centerline goodness : 0.890116 Centerline is valid? [False, False] Translation: X:1.56, Y:0.18, Z:-0.05 [[ 9.94249249e-01 4.91829704e-02 -9.51286858e-02 1.55926356e+00] [-4.89283321e-02 9.98789732e-01 5.00888161e-03 1.80257874e-01] [ 9.52599063e-02 -3.25588840e-04 9.95452382e-01 -5.18984133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885384749999997 meters Centerline goodness : 0.887189 Centerline is valid? [False, False] Translation: X:1.56, Y:0.18, Z:-0.05 [[ 9.94272422e-01 4.81281862e-02 -9.54255122e-02 1.56030668e+00] [-4.79918999e-02 9.98840782e-01 3.72408334e-03 1.82411322e-01] [ 9.54941267e-02 8.76898274e-04 9.95429607e-01 -5.24263482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915384749999998 meters Centerline goodness : 0.889228 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.05 [[ 0.99434185 0.04659007 -0.09546543 1.56104967] [-0.04665314 0.99890991 0.00157251 0.18842664] [ 0.09543463 0.00289015 0.9954315 -0.05292004] [ 0. 0. 0. 1. ]] SLAMing on 21.94538475 meters Centerline goodness : 0.889506 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.05 [[ 0.9942239 0.04863263 -0.095675 1.56282567] [-0.04860688 0.9988146 0.00260106 0.19498289] [ 0.09568809 0.00206443 0.99540923 -0.05379157] [ 0. 0. 0. 1. ]] SLAMing on 21.97538475 meters Centerline goodness : 0.891928 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.05 [[ 9.94235377e-01 4.82826742e-02 -9.57329580e-02 1.56293943e+00] [-4.83734999e-02 9.98828373e-01 1.37319500e-03 1.98954839e-01] [ 9.56870962e-02 3.26565918e-03 9.95406106e-01 -5.37647699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005384749999997 meters Centerline goodness : 0.890669 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.05 [[ 9.94234370e-01 4.79998728e-02 -9.58855031e-02 1.56301604e+00] [-4.82118887e-02 9.98837125e-01 1.05732438e-04 2.02854588e-01] [ 9.57790754e-02 4.51769838e-03 9.95392364e-01 -5.35282343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.03538475 meters Centerline goodness : 0.894791 Centerline is valid? [False, False] Translation: X:1.57, Y:0.21, Z:-0.05 [[ 0.99446382 0.05301684 -0.09072448 1.56898263] [-0.05389598 0.99852012 -0.00726622 0.21009323] [ 0.09020499 0.01211567 0.99584952 -0.05404002] [ 0. 0. 0. 1. ]] SLAMing on 22.06538475 meters Centerline goodness : 0.893208 Centerline is valid? [False, False] Translation: X:1.57, Y:0.21, Z:-0.05 [[ 0.99440976 0.05467503 -0.09033198 1.56791687] [-0.05549222 0.99843758 -0.00655795 0.21448574] [ 0.08983229 0.01153401 0.99589012 -0.05326923] [ 0. 0. 0. 1. ]] SLAMing on 22.095384749999997 meters Centerline goodness : 0.892990 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.06 [[ 0.99444669 0.0606887 -0.08598054 1.57859355] [-0.06191646 0.99801296 -0.01168299 0.22335076] [ 0.08510067 0.01694172 0.99622831 -0.05606011] [ 0. 0. 0. 1. ]] SLAMing on 22.12538475 meters Centerline goodness : 0.893782 Centerline is valid? [False, False] Translation: X:1.58, Y:0.23, Z:-0.06 [[ 0.99413881 0.06578172 -0.08579501 1.58055845] [-0.06671747 0.99773917 -0.00808239 0.23182494] [ 0.08506937 0.01375904 0.99628003 -0.05725576] [ 0. 0. 0. 1. ]] SLAMing on 22.15538475 meters Centerline goodness : 0.893993 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.99417542 0.06509222 -0.08589669 1.58075677] [-0.06613745 0.99776647 -0.00937629 0.23527907] [ 0.08509452 0.01500267 0.99625993 -0.05718607] [ 0. 0. 0. 1. ]] SLAMing on 22.185384749999997 meters Centerline goodness : 0.894304 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.99422514 0.06435966 -0.08587318 1.58048787] [-0.06548086 0.99780065 -0.01030132 0.2370205 ] [ 0.08502133 0.01586488 0.99625282 -0.0568801 ] [ 0. 0. 0. 1. ]] SLAMing on 22.21538475 meters Centerline goodness : 0.895076 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.99445183 0.06121815 -0.08554467 1.57938127] [-0.06257591 0.99795186 -0.01327915 0.24046128] [ 0.08455654 0.01855852 0.99624584 -0.05621581] [ 0. 0. 0. 1. ]] SLAMing on 22.24538475 meters Centerline goodness : 0.894815 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.99457836 0.05899204 -0.08563778 1.58091981] [-0.06049597 0.99805465 -0.01507165 0.2430043 ] [ 0.08458208 0.02017068 0.99621233 -0.0575466 ] [ 0. 0. 0. 1. ]] SLAMing on 22.275384749999997 meters Centerline goodness : 0.893533 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.9946353 0.05802861 -0.08563472 1.58171576] [-0.05958986 0.9980981 -0.0157872 0.24404135] [ 0.08455574 0.02080546 0.99620152 -0.05832755] [ 0. 0. 0. 1. ]] SLAMing on 22.305384749999998 meters Centerline goodness : 0.893132 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.06 [[ 0.99467106 0.05733441 -0.08568688 1.58252729] [-0.0589273 0.99813122 -0.01617532 0.24449059] [ 0.08459934 0.02113842 0.9961908 -0.05908503] [ 0. 0. 0. 1. ]] SLAMing on 22.33538475 meters Centerline goodness : 0.890750 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.06 [[ 0.9947615 0.05563709 -0.08575584 1.5837441 ] [-0.05734408 0.99819985 -0.0175702 0.24608645] [ 0.08462391 0.02239575 0.99616124 -0.06015035] [ 0. 0. 0. 1. ]] SLAMing on 22.365384749999997 meters Centerline goodness : 0.891100 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.06 [[ 0.99476522 0.05543196 -0.08584548 1.58413302] [-0.05718065 0.99820075 -0.0180452 0.24731715] [ 0.08469074 0.02285944 0.99614503 -0.06038677] [ 0. 0. 0. 1. ]] SLAMing on 22.395384749999998 meters Centerline goodness : 0.890836 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.06 [[ 0.99454898 0.05898819 -0.08598087 1.58511336] [-0.06053604 0.99804558 -0.01550529 0.25046227] [ 0.0848982 0.02062571 0.99617613 -0.06059042] [ 0. 0. 0. 1. ]] SLAMing on 22.42538475 meters Centerline goodness : 0.891915 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.06 [[ 0.99433002 0.06271311 -0.08587705 1.58565329] [-0.06402242 0.99786923 -0.01257528 0.25298528] [ 0.08490543 0.01800203 0.99622638 -0.06076141] [ 0. 0. 0. 1. ]] SLAMing on 22.455384749999997 meters Centerline goodness : 0.894724 Centerline is valid? [False, False] Translation: X:1.59, Y:0.26, Z:-0.06 [[ 0.99383085 0.07017 -0.08588608 1.58778631] [-0.07105048 0.99744649 -0.0072344 0.26121475] [ 0.08515913 0.01329202 0.9962787 -0.06154067] [ 0. 0. 0. 1. ]] SLAMing on 22.485384749999998 meters Centerline goodness : 0.894638 Centerline is valid? [False, False] Translation: X:1.59, Y:0.27, Z:-0.06 [[ 0.99358453 0.07377762 -0.08571261 1.58796008] [-0.07445909 0.99721263 -0.00477672 0.26523642] [ 0.08512128 0.01112816 0.99630845 -0.06129542] [ 0. 0. 0. 1. ]] SLAMing on 22.51538475 meters Centerline goodness : 0.894804 Centerline is valid? [False, False] Translation: X:1.59, Y:0.27, Z:-0.06 [[ 0.99334893 0.07710931 -0.08551051 1.58795822] [-0.07762713 0.99697869 -0.00274221 0.26816972] [ 0.08504071 0.0093619 0.99633349 -0.06057541] [ 0. 0. 0. 1. ]] SLAMing on 22.545384749999997 meters Centerline goodness : 0.894942 Centerline is valid? [False, False] Translation: X:1.59, Y:0.27, Z:-0.06 [[ 0.99320814 0.07760162 -0.08669239 1.59008901] [-0.07840795 0.99690372 -0.00592985 0.27405478] [ 0.0859638 0.01268695 0.99621748 -0.05941954] [ 0. 0. 0. 1. ]] SLAMing on 22.575384749999998 meters Centerline goodness : 0.894518 Centerline is valid? [False, False] Translation: X:1.59, Y:0.28, Z:-0.06 [[ 0.99321051 0.0772994 -0.08693499 1.59162444] [-0.07821392 0.9969109 -0.00715793 0.27675345] [ 0.08611313 0.01390886 0.99618827 -0.0603319 ] [ 0. 0. 0. 1. ]] SLAMing on 22.60538475 meters Centerline goodness : 0.895084 Centerline is valid? [False, False] Translation: X:1.59, Y:0.28, Z:-0.06 [[ 0.9933441 0.07591835 -0.08662507 1.59264972] [-0.07694624 0.99699829 -0.00858438 0.28049304] [ 0.08571333 0.01519272 0.996204 -0.06190358] [ 0. 0. 0. 1. ]] SLAMing on 22.635384749999997 meters Centerline goodness : 0.894517 Centerline is valid? [False, False] Translation: X:1.59, Y:0.28, Z:-0.06 [[ 0.99344172 0.07507808 -0.08623701 1.59223848] [-0.07613946 0.99705583 -0.00908054 0.28159798] [ 0.08530137 0.01558703 0.99623327 -0.06226601] [ 0. 0. 0. 1. ]] SLAMing on 22.665384749999998 meters Centerline goodness : 0.892946 Centerline is valid? [False, False] Translation: X:1.59, Y:0.28, Z:-0.06 [[ 0.99368509 0.07285561 -0.08533468 1.59083576] [-0.07401041 0.99720278 -0.01044386 0.28355002] [ 0.08433509 0.01669356 0.99629761 -0.06256819] [ 0. 0. 0. 1. ]] SLAMing on 22.69538475 meters Centerline goodness : 0.895436 Centerline is valid? [False, False] Translation: X:1.59, Y:0.29, Z:-0.06 [[ 0.99374426 0.07225871 -0.08515293 1.59067004] [-0.07347911 0.99723294 -0.01128185 0.28522826] [ 0.0841021 0.01746823 0.99630402 -0.06257596] [ 0. 0. 0. 1. ]] SLAMing on 22.72538475 meters Centerline goodness : 0.894456 Centerline is valid? [False, False] Translation: X:1.59, Y:0.29, Z:-0.06 [[ 0.99376289 0.07155862 -0.0855259 1.59179582] [-0.0729866 0.99723904 -0.01368388 0.28996913] [ 0.08431057 0.01984078 0.99624197 -0.06240086] [ 0. 0. 0. 1. ]] SLAMing on 22.755384749999997 meters Centerline goodness : 0.893501 Centerline is valid? [False, False] Translation: X:1.59, Y:0.29, Z:-0.06 [[ 0.99360287 0.07443005 -0.08493241 1.59138267] [-0.07561273 0.99707888 -0.01078975 0.29112523] [ 0.08388123 0.0171427 0.99632829 -0.06244105] [ 0. 0. 0. 1. ]] SLAMing on 22.78538475 meters Centerline goodness : 0.895523 Centerline is valid? [False, False] Translation: X:1.59, Y:0.30, Z:-0.06 [[ 0.99346498 0.07683112 -0.08440562 1.59130403] [-0.07793954 0.99690882 -0.00991147 0.29703237] [ 0.0833832 0.01642523 0.99638218 -0.06198588] [ 0. 0. 0. 1. ]] SLAMing on 22.81538475 meters Centerline goodness : 0.895140 Centerline is valid? [False, False] Translation: X:1.59, Y:0.30, Z:-0.06 [[ 0.99350244 0.07622763 -0.08451179 1.59178212] [-0.07750504 0.99692053 -0.01193393 0.30117241] [ 0.08334184 0.01840648 0.99635101 -0.06168273] [ 0. 0. 0. 1. ]] SLAMing on 22.845384749999997 meters Centerline goodness : 0.894556 Centerline is valid? [False, False] Translation: X:1.59, Y:0.31, Z:-0.06 [[ 0.9935047 0.07544582 -0.08518414 1.59321676] [-0.07696736 0.996925 -0.0147165 0.30678344] [ 0.0838119 0.02117731 0.99625654 -0.06105468] [ 0. 0. 0. 1. ]] SLAMing on 22.87538475 meters Centerline goodness : 0.894817 Centerline is valid? [False, False] Translation: X:1.59, Y:0.31, Z:-0.06 [[ 0.99340246 0.07702762 -0.08496053 1.5944311 ] [-0.07841382 0.99683487 -0.01309622 0.30807143] [ 0.08368285 0.0196719 0.99629825 -0.0622119 ] [ 0. 0. 0. 1. ]] SLAMing on 22.90538475 meters Centerline goodness : 0.900406 Centerline is valid? [False, False] Translation: X:1.60, Y:0.31, Z:-0.06 [[ 0.99312618 0.08020575 -0.08524916 1.59663627] [-0.08156197 0.99658937 -0.01254116 0.31486136] [ 0.08395253 0.01940804 0.99628073 -0.06251043] [ 0. 0. 0. 1. ]] SLAMing on 22.935384749999997 meters Centerline goodness : 0.902965 Centerline is valid? [False, False] Translation: X:1.60, Y:0.32, Z:-0.06 [[ 0.99282503 0.08387517 -0.08522571 1.59741166] [-0.0850449 0.99632509 -0.01018201 0.3178277 ] [ 0.0840585 0.01735696 0.99630964 -0.06231599] [ 0. 0. 0. 1. ]] SLAMing on 22.96538475 meters Centerline goodness : 0.897777 Centerline is valid? [False, False] Translation: X:1.60, Y:0.32, Z:-0.06 [[ 0.99230895 0.08918017 -0.08584781 1.59933129] [-0.09025777 0.99588003 -0.00874627 0.3244983 ] [ 0.08471413 0.01642743 0.99626987 -0.06125321] [ 0. 0. 0. 1. ]] SLAMing on 22.99538475 meters Centerline goodness : 0.904488 Centerline is valid? [False, False] Translation: X:1.60, Y:0.33, Z:-0.06 [[ 0.99137931 0.09851636 -0.08638049 1.60200149] [-0.09918099 0.99506351 -0.00342611 0.33076653] [ 0.08561654 0.01196388 0.99625633 -0.06075442] [ 0. 0. 0. 1. ]] SLAMing on 23.025384749999997 meters Centerline goodness : 0.898343 Centerline is valid? [False, False] Translation: X:1.60, Y:0.33, Z:-0.06 [[ 9.90831513e-01 1.03545274e-01 -8.67829978e-02 1.60398676e+00] [-1.03975351e-01 9.94579778e-01 -4.38086970e-04 3.33437371e-01] [ 8.62672529e-02 9.45736302e-03 9.96227142e-01 -6.07757923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055384749999998 meters Centerline goodness : 0.897327 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.06 [[ 0.9902873 0.10838097 -0.08708972 1.60598053] [-0.10853741 0.99408799 0.002951 0.33529659] [ 0.08689467 0.00653016 0.9961961 -0.06116943] [ 0. 0. 0. 1. ]] SLAMing on 23.08538475 meters Centerline goodness : 0.898737 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.06 [[ 9.89197080e-01 1.18214273e-01 -8.66863432e-02 1.60721280e+00] [-1.17735542e-01 9.92988061e-01 1.06326765e-02 3.36336794e-01] [ 8.73354379e-02 -3.11749002e-04 9.96178912e-01 -6.09831021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115384749999997 meters Centerline goodness : 0.899300 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.06 [[ 0.98836009 0.12552156 -0.08595742 1.60586347] [-0.12461314 0.9920784 0.01587501 0.33697051] [ 0.08726915 -0.0049788 0.99617233 -0.05918985] [ 0. 0. 0. 1. ]] SLAMing on 23.145384749999998 meters Centerline goodness : 0.902211 Centerline is valid? [False, False] Translation: X:1.60, Y:0.34, Z:-0.06 [[ 0.988077 0.12808917 -0.08542253 1.60410436] [-0.12704298 0.99174114 0.01759548 0.33722728] [ 0.08697083 -0.00653335 0.99618944 -0.0580248 ] [ 0. 0. 0. 1. ]] SLAMing on 23.17538475 meters Centerline goodness : 0.899828 Centerline is valid? [False, False] Translation: X:1.60, Y:0.33, Z:-0.06 [[ 0.987306 0.13413537 -0.08505625 1.60441818] [-0.13260294 0.99089196 0.02344309 0.33350231] [ 0.08742611 -0.0118668 0.99610032 -0.05810137] [ 0. 0. 0. 1. ]] SLAMing on 23.205384749999997 meters Centerline goodness : 0.896824 Centerline is valid? [False, False] Translation: X:1.60, Y:0.33, Z:-0.06 [[ 0.98717575 0.13498655 -0.08522126 1.6046673 ] [-0.13337587 0.99076647 0.02434518 0.33168105] [ 0.08772064 -0.01266651 0.99606458 -0.05810155] [ 0. 0. 0. 1. ]] SLAMing on 23.235384749999998 meters Centerline goodness : 0.897345 Centerline is valid? [False, False] Translation: X:1.60, Y:0.32, Z:-0.06 [[ 0.98684145 0.13749242 -0.08508696 1.60346349] [-0.13559537 0.9903766 0.02771454 0.32457892] [ 0.08807867 -0.01581246 0.99598801 -0.05738165] [ 0. 0. 0. 1. ]] SLAMing on 23.26538475 meters Centerline goodness : 0.895979 Centerline is valid? [False, False] Translation: X:1.60, Y:0.32, Z:-0.06 [[ 0.98718079 0.13460304 -0.08576776 1.60326793] [-0.13289906 0.99080654 0.02530298 0.32162259] [ 0.08838511 -0.01358016 0.9959938 -0.05699982] [ 0. 0. 0. 1. ]] SLAMing on 23.295384749999997 meters Centerline goodness : 0.896760 Centerline is valid? [False, False] Translation: X:1.60, Y:0.31, Z:-0.06 [[ 0.98779276 0.12940464 -0.08671733 1.60262021] [-0.12795678 0.99153403 0.02207544 0.31263401] [ 0.08883984 -0.01070989 0.99598834 -0.05700338] [ 0. 0. 0. 1. ]] SLAMing on 23.325384749999998 meters Centerline goodness : 0.890637 Centerline is valid? [False, False] Translation: X:1.60, Y:0.31, Z:-0.06 [[ 0.98809775 0.12669395 -0.0872438 1.60232953] [-0.12534364 0.99189516 0.02080772 0.30712804] [ 0.08917292 -0.0096246 0.99596966 -0.05703237] [ 0. 0. 0. 1. ]] SLAMing on 23.35538475 meters Centerline goodness : 0.890398 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.06 [[ 0.98841523 0.12389511 -0.08766608 1.60167535] [-0.12263329 0.99225737 0.01965671 0.30126134] [ 0.08942269 -0.00867821 0.99595596 -0.05694743] [ 0. 0. 0. 1. ]] SLAMing on 23.385384749999997 meters Centerline goodness : 0.886873 Centerline is valid? [False, False] Translation: X:1.60, Y:0.29, Z:-0.06 [[ 0.98896035 0.11878474 -0.08858672 1.60051547] [-0.11767828 0.99289529 0.01762854 0.28929665] [ 0.09005134 -0.0070092 0.99591246 -0.05669656] [ 0. 0. 0. 1. ]] SLAMing on 23.415384749999998 meters Centerline goodness : 0.886629 Centerline is valid? [False, False] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 0.98921679 0.11608555 -0.08929885 1.60052531] [-0.11507025 0.9932211 0.01645258 0.28354236] [ 0.09060341 -0.00599952 0.99586898 -0.05672975] [ 0. 0. 0. 1. ]] SLAMing on 23.44538475 meters Centerline goodness : 0.886315 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.98960326 0.11125912 -0.09114166 1.60127458] [-0.11041734 0.99378326 0.01424258 0.2704679 ] [ 0.09215967 -0.00403088 0.99573608 -0.0567664 ] [ 0. 0. 0. 1. ]] SLAMing on 23.47538475 meters Centerline goodness : 0.884729 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 9.90106248e-01 1.05186987e-01 -9.28725797e-02 1.60228023e+00] [-1.04807469e-01 9.94452094e-01 8.96809955e-03 2.65637452e-01] [ 9.33006587e-02 8.54368572e-04 9.95637613e-01 -5.64515795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505384749999997 meters Centerline goodness : 0.883280 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.99057865 0.0993808 -0.09421994 1.60240225] [-0.09941183 0.99503675 0.0043761 0.25996828] [ 0.0941872 0.00503171 0.99554179 -0.05591222] [ 0. 0. 0. 1. ]] SLAMing on 23.53538475 meters Centerline goodness : 0.883280 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.99057865 0.0993808 -0.09421994 1.60240225] [-0.09941183 0.99503675 0.0043761 0.25996828] [ 0.0941872 0.00503171 0.99554179 -0.05591222] [ 0. 0. 0. 1. ]] SLAMing on 23.56538475 meters Centerline goodness : 0.883289 Centerline is valid? [False, False] Translation: X:1.60, Y:0.24, Z:-0.05 [[ 9.91499445e-01 9.18923350e-02 -9.21121565e-02 1.59743091e+00] [-9.16259953e-02 9.95767999e-01 7.12526008e-03 2.43558949e-01] [ 9.23770946e-02 1.37517660e-03 9.95723145e-01 -5.41277882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595384749999997 meters Centerline goodness : 0.881993 Centerline is valid? [False, False] Translation: X:1.59, Y:0.23, Z:-0.05 [[ 0.99253225 0.08342558 -0.08899384 1.59173714] [-0.08282723 0.99650963 0.01040183 0.2270521 ] [ 0.089551 -0.00295304 0.99597786 -0.05352166] [ 0. 0. 0. 1. ]] SLAMing on 23.62538475 meters Centerline goodness : 0.880012 Centerline is valid? [False, False] Translation: X:1.59, Y:0.22, Z:-0.05 [[ 0.99288035 0.07954023 -0.0886677 1.59013546] [-0.07892225 0.9968259 0.01045944 0.21977201] [ 0.08921821 -0.00338712 0.99600634 -0.05424891] [ 0. 0. 0. 1. ]] SLAMing on 23.65538475 meters Centerline goodness : 0.880751 Centerline is valid? [False, False] Translation: X:1.58, Y:0.20, Z:-0.05 [[ 0.99368019 0.07432124 -0.08411914 1.58308203] [-0.07316325 0.99717897 0.01677027 0.20496353] [ 0.08512823 -0.01050985 0.99631457 -0.0536839 ] [ 0. 0. 0. 1. ]] SLAMing on 23.685384749999997 meters Centerline goodness : 0.880921 Centerline is valid? [False, False] Translation: X:1.59, Y:0.20, Z:-0.06 [[ 0.99430403 0.07822783 -0.07238718 1.58521437] [-0.07696982 0.99683256 0.0200125 0.1954876 ] [ 0.07372344 -0.01432688 0.99717581 -0.05651022] [ 0. 0. 0. 1. ]] SLAMing on 23.71538475 meters Centerline goodness : 0.882478 Centerline is valid? [False, False] Translation: X:1.59, Y:0.19, Z:-0.05 [[ 0.9942087 0.07740963 -0.07454402 1.5857905 ] [-0.07626162 0.996923 0.0181298 0.18753287] [ 0.07571807 -0.01233996 0.99705291 -0.05341955] [ 0. 0. 0. 1. ]] SLAMing on 23.74538475 meters Centerline goodness : 0.881705 Centerline is valid? [False, False] Translation: X:1.58, Y:0.19, Z:-0.05 [[ 0.99440569 0.07478113 -0.0745996 1.58493207] [-0.07383716 0.99715238 0.01533633 0.18591881] [ 0.07553404 -0.00974231 0.99709563 -0.05314283] [ 0. 0. 0. 1. ]] SLAMing on 23.775384749999997 meters Centerline goodness : 0.884517 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.05 [[ 0.99431221 0.07615254 -0.07445811 1.58456191] [-0.07505503 0.997027 0.01743272 0.18082896] [ 0.07556429 -0.01174511 0.99707176 -0.0530359 ] [ 0. 0. 0. 1. ]] SLAMing on 23.805384749999998 meters Centerline goodness : 0.881941 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.05 [[ 0.99455914 0.07271589 -0.07459572 1.58453071] [-0.0718751 0.99731681 0.01389815 0.18039879] [ 0.07540619 -0.00846096 0.997117 -0.05345949] [ 0. 0. 0. 1. ]] SLAMing on 23.83538475 meters Centerline goodness : 0.881615 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.05 [[ 0.99480303 0.06911549 -0.07476622 1.58431907] [-0.06851092 0.9975938 0.01062402 0.17896464] [ 0.0753206 -0.0054465 0.99714449 -0.05352721] [ 0. 0. 0. 1. ]] SLAMing on 23.865384749999997 meters Centerline goodness : 0.883650 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.05 [[ 9.95275352e-01 6.16374779e-02 -7.50186255e-02 1.58355921e+00] [-6.14673868e-02 9.98098601e-01 4.57626853e-03 1.74254996e-01] [ 7.51580548e-02 5.65515983e-05 9.97171632e-01 -5.32983600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895384749999998 meters Centerline goodness : 0.886319 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.05 [[ 0.9957305 0.05304249 -0.07554646 1.58473292] [-0.0533341 0.99857502 -0.00184629 0.16897704] [ 0.07534087 0.00586761 0.99714057 -0.0544303 ] [ 0. 0. 0. 1. ]] SLAMing on 23.92538475 meters Centerline goodness : 0.883935 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99594087 0.04861552 -0.07575162 1.58522118] [-0.04915805 0.99877688 -0.0053129 0.16716845] [ 0.07540068 0.00901513 0.99711256 -0.05500223] [ 0. 0. 0. 1. ]] SLAMing on 23.955384749999997 meters Centerline goodness : 0.883738 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99612967 0.04428007 -0.07592731 1.58538796] [-0.04508101 0.99894399 -0.00886658 0.16584294] [ 0.07545451 0.01225514 0.99707393 -0.05525319] [ 0. 0. 0. 1. ]] SLAMing on 23.985384749999998 meters Centerline goodness : 0.886150 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.06 [[ 0.99635914 0.03873887 -0.0759458 1.58609055] [-0.03982128 0.99912496 -0.01278962 0.16362211] [ 0.07538389 0.01576731 0.99702992 -0.05616662] [ 0. 0. 0. 1. ]] SLAMing on 24.01538475 meters Centerline goodness : 0.885108 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.06 [[ 0.9963843 0.03827862 -0.07584896 1.58614568] [-0.03934159 0.99914676 -0.0125695 0.16204316] [ 0.0753031 0.01550807 0.99704009 -0.05631893] [ 0. 0. 0. 1. ]] SLAMing on 24.045384749999997 meters Centerline goodness : 0.884395 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.06 [[ 0.99644495 0.03715284 -0.07561163 1.58620846] [-0.03825699 0.99918066 -0.01320674 0.16227102] [ 0.07505901 0.01605246 0.99704988 -0.05668818] [ 0. 0. 0. 1. ]] SLAMing on 24.075384749999998 meters Centerline goodness : 0.882791 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.06 [[ 0.99644674 0.03703376 -0.07564651 1.58619238] [-0.03816783 0.99917878 -0.01360096 0.16372931] [ 0.07508069 0.0164399 0.99704193 -0.05657806] [ 0. 0. 0. 1. ]] SLAMing on 24.10538475 meters Centerline goodness : 0.881019 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99632026 0.03990889 -0.07584997 1.58805475] [-0.04088173 0.99909991 -0.01131613 0.16627198] [ 0.07533008 0.01437537 0.99705503 -0.05781267] [ 0. 0. 0. 1. ]] SLAMing on 24.135384749999997 meters Centerline goodness : 0.882408 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99630901 0.03997492 -0.07596294 1.58828565] [-0.04098514 0.99909024 -0.01178612 0.16812075] [ 0.07542268 0.01485596 0.99704098 -0.05790082] [ 0. 0. 0. 1. ]] SLAMing on 24.165384749999998 meters Centerline goodness : 0.882092 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99618624 0.04313318 -0.07584521 1.58881409] [-0.0439472 0.99899245 -0.00909591 0.17066567] [ 0.07537645 0.01239441 0.99707812 -0.05820499] [ 0. 0. 0. 1. ]] SLAMing on 24.19538475 meters Centerline goodness : 0.878764 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99619178 0.04295889 -0.07587137 1.58883113] [-0.04381032 0.99899381 -0.00959276 0.1723532 ] [ 0.07538293 0.01288018 0.99707147 -0.05815298] [ 0. 0. 0. 1. ]] SLAMing on 24.22538475 meters Centerline goodness : 0.878368 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:-0.06 [[ 0.99619546 0.0425486 -0.07605409 1.58952671] [-0.04344332 0.99900435 -0.01014804 0.17351336] [ 0.07554658 0.01341348 0.99705205 -0.05856095] [ 0. 0. 0. 1. ]] SLAMing on 24.255384749999997 meters Centerline goodness : 0.876956 Centerline is valid? [False, False] Translation: X:1.59, Y:0.18, Z:-0.06 [[ 0.99622071 0.04150467 -0.07629977 1.59100551] [-0.04249867 0.99903091 -0.0114497 0.17654032] [ 0.07575061 0.01464907 0.99701918 -0.05965321] [ 0. 0. 0. 1. ]] SLAMing on 24.28538475 meters Centerline goodness : 0.875483 Centerline is valid? [False, False] Translation: X:1.59, Y:0.18, Z:-0.06 [[ 0.99625838 0.04008978 -0.07656409 1.5922369 ] [-0.04120449 0.99906571 -0.01303473 0.17951913] [ 0.07597 0.01614074 0.99697946 -0.06039332] [ 0. 0. 0. 1. ]] SLAMing on 24.31538475 meters Centerline goodness : 0.873581 Centerline is valid? [False, False] Translation: X:1.59, Y:0.18, Z:-0.06 [[ 0.99626718 0.03968088 -0.07666244 1.59252465] [-0.0408445 0.999072 -0.01366996 0.18133039] [ 0.07604887 0.01675017 0.99696339 -0.06045999] [ 0. 0. 0. 1. ]] SLAMing on 24.345384749999997 meters Centerline goodness : 0.873996 Centerline is valid? [False, False] Translation: X:1.59, Y:0.19, Z:-0.06 [[ 0.99619824 0.04151748 -0.07658562 1.59317959] [-0.04259927 0.99901347 -0.01254546 0.18663351] [ 0.07598921 0.01576026 0.99698408 -0.06065935] [ 0. 0. 0. 1. ]] SLAMing on 24.37538475 meters Centerline goodness : 0.874312 Centerline is valid? [False, False] Translation: X:1.59, Y:0.19, Z:-0.06 [[ 0.99607343 0.04444705 -0.07656485 1.59368534] [-0.04533985 0.99892195 -0.00996128 0.18899713] [ 0.07603956 0.0133936 0.99701484 -0.06067401] [ 0. 0. 0. 1. ]] SLAMing on 24.40538475 meters Centerline goodness : 0.873845 Centerline is valid? [False, False] Translation: X:1.59, Y:0.20, Z:-0.06 [[ 0.9959511 0.04651917 -0.07692446 1.59468789] [-0.04738392 0.99883201 -0.00945382 0.1967518 ] [ 0.07639483 0.01306053 0.9969921 -0.06043224] [ 0. 0. 0. 1. ]] SLAMing on 24.435384749999997 meters Centerline goodness : 0.875316 Centerline is valid? [False, False] Translation: X:1.59, Y:0.20, Z:-0.06 [[ 0.99581337 0.04935594 -0.07693978 1.59490569] [-0.05006759 0.99871881 -0.00734694 0.20043112] [ 0.07647859 0.01116837 0.99700867 -0.06010201] [ 0. 0. 0. 1. ]] SLAMing on 24.46538475 meters Centerline goodness : 0.875995 Centerline is valid? [False, False] Translation: X:1.60, Y:0.21, Z:-0.06 [[ 0.9963801 0.05059822 -0.06831196 1.59664029] [-0.05141408 0.99862495 -0.01023714 0.21077597] [ 0.06770005 0.01371228 0.99761149 -0.06338012] [ 0. 0. 0. 1. ]] SLAMing on 24.49538475 meters Centerline goodness : 0.875566 Centerline is valid? [False, False] Translation: X:1.60, Y:0.21, Z:-0.06 [[ 0.99638248 0.05068662 -0.06821165 1.59593108] [-0.05155079 0.99861015 -0.01096765 0.21487832] [ 0.06756093 0.01444434 0.99761059 -0.0626186 ] [ 0. 0. 0. 1. ]] SLAMing on 24.525384749999997 meters Centerline goodness : 0.875708 Centerline is valid? [False, False] Translation: X:1.60, Y:0.22, Z:-0.06 [[ 0.99639842 0.05021021 -0.06833098 1.59612257] [-0.05115407 0.99861707 -0.012133 0.2181995 ] [ 0.06762728 0.01558471 0.99758893 -0.06252603] [ 0. 0. 0. 1. ]] SLAMing on 24.555384749999998 meters Centerline goodness : 0.877857 Centerline is valid? [False, False] Translation: X:1.60, Y:0.22, Z:-0.06 [[ 0.99628249 0.05224024 -0.0684993 1.59803909] [-0.05312237 0.9985261 -0.01111903 0.22418194] [ 0.06781747 0.01471654 0.9975892 -0.06370959] [ 0. 0. 0. 1. ]] SLAMing on 24.58538475 meters Centerline goodness : 0.877451 Centerline is valid? [False, False] Translation: X:1.60, Y:0.23, Z:-0.06 [[ 0.9961131 0.05535396 -0.06851744 1.59916846] [-0.05606599 0.99839079 -0.00851139 0.22693699] [ 0.06793605 0.0123198 0.99761361 -0.06437515] [ 0. 0. 0. 1. ]] SLAMing on 24.615384749999997 meters Centerline goodness : 0.879095 Centerline is valid? [False, False] Translation: X:1.60, Y:0.23, Z:-0.06 [[ 0.9959293 0.05823635 -0.06879941 1.60067305] [-0.05886054 0.99824112 -0.00707873 0.23306268] [ 0.06826616 0.01109949 0.9976054 -0.06487328] [ 0. 0. 0. 1. ]] SLAMing on 24.645384749999998 meters Centerline goodness : 0.881260 Centerline is valid? [False, False] Translation: X:1.60, Y:0.24, Z:-0.06 [[ 0.99571273 0.06149724 -0.06909599 1.60178591] [-0.06201287 0.99806106 -0.00534038 0.23853782] [ 0.0686336 0.00960232 0.99759572 -0.06486792] [ 0. 0. 0. 1. ]] SLAMing on 24.67538475 meters Centerline goodness : 0.880117 Centerline is valid? [False, False] Translation: X:1.60, Y:0.24, Z:-0.06 [[ 0.9956861 0.06224993 -0.06880511 1.60083543] [-0.06276742 0.99801366 -0.00538285 0.24201679] [ 0.06833335 0.00967835 0.9976156 -0.06417198] [ 0. 0. 0. 1. ]] SLAMing on 24.705384749999997 meters Centerline goodness : 0.880867 Centerline is valid? [False, False] Translation: X:1.60, Y:0.25, Z:-0.06 [[ 0.99570043 0.06159773 -0.06918364 1.60181563] [-0.06221098 0.99804024 -0.00674278 0.24534885] [ 0.06863272 0.01101777 0.99758115 -0.064468 ] [ 0. 0. 0. 1. ]] SLAMing on 24.735384749999998 meters Centerline goodness : 0.881807 Centerline is valid? [False, False] Translation: X:1.60, Y:0.25, Z:-0.06 [[ 0.9957234 0.06103401 -0.06935241 1.60243436] [-0.061746 0.99805848 -0.00816737 0.24970673] [ 0.06871927 0.01241468 0.99755879 -0.06472024] [ 0. 0. 0. 1. ]] SLAMing on 24.76538475 meters Centerline goodness : 0.882665 Centerline is valid? [False, False] Translation: X:1.60, Y:0.25, Z:-0.06 [[ 0.99575105 0.0604697 -0.0694497 1.60282321] [-0.06124468 0.99808146 -0.00908227 0.25174251] [ 0.06876725 0.0132971 0.99754411 -0.06489691] [ 0. 0. 0. 1. ]] SLAMing on 24.795384749999997 meters Centerline goodness : 0.886886 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.99578938 0.05967315 -0.069589 1.60325087] [-0.06053571 0.99811236 -0.01035093 0.2554341 ] [ 0.06883997 0.01451996 0.99752204 -0.06496752] [ 0. 0. 0. 1. ]] SLAMing on 24.825384749999998 meters Centerline goodness : 0.888073 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.99559985 0.06264691 -0.06968715 1.60400744] [-0.06333988 0.99796171 -0.00777694 0.25818503] [ 0.06905791 0.0121567 0.99753858 -0.06494825] [ 0. 0. 0. 1. ]] SLAMing on 24.85538475 meters Centerline goodness : 0.888760 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.99560205 0.06263686 -0.06966474 1.60371635] [-0.06337497 0.99795415 -0.00843372 0.26023022] [ 0.06899396 0.01281163 0.99753481 -0.06459901] [ 0. 0. 0. 1. ]] SLAMing on 24.885384749999997 meters Centerline goodness : 0.890642 Centerline is valid? [False, False] Translation: X:1.60, Y:0.26, Z:-0.06 [[ 0.9955995 0.0625284 -0.06979852 1.60405887] [-0.06335395 0.99794422 -0.00967497 0.26374899] [ 0.06905007 0.0140544 0.99751419 -0.06460722] [ 0. 0. 0. 1. ]] SLAMing on 24.915384749999998 meters Centerline goodness : 0.890665 Centerline is valid? [False, False] Translation: X:1.61, Y:0.27, Z:-0.06 [[ 0.99556543 0.06259926 -0.07021969 1.60504723] [-0.0634941 0.99792611 -0.0105823 0.26572587] [ 0.06941162 0.01499391 0.99747542 -0.0645304 ] [ 0. 0. 0. 1. ]] SLAMing on 24.94538475 meters Centerline goodness : 0.892828 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.9954315 0.06544969 -0.06951593 1.60458526] [-0.06615285 0.99777855 -0.00785904 0.26786238] [ 0.06884713 0.01242181 0.99754988 -0.06470198] [ 0. 0. 0. 1. ]] SLAMing on 24.97538475 meters Centerline goodness : 0.893906 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.99545723 0.06497698 -0.06959086 1.604624 ] [-0.06573956 0.99779869 -0.00872214 0.26906367] [ 0.06887093 0.01325739 0.99753749 -0.06440886] [ 0. 0. 0. 1. ]] SLAMing on 25.005384749999997 meters Centerline goodness : 0.895005 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.99547534 0.06471296 -0.06957783 1.60432852] [-0.06550633 0.99780993 -0.00917974 0.26968256] [ 0.0688314 0.01369599 0.99753429 -0.06398509] [ 0. 0. 0. 1. ]] SLAMing on 25.03538475 meters Centerline goodness : 0.896146 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.99550001 0.0644312 -0.06948634 1.60454021] [-0.06524012 0.99782501 -0.00943312 0.27051222] [ 0.06872742 0.01392397 0.9975383 -0.06440434] [ 0. 0. 0. 1. ]] SLAMing on 25.06538475 meters Centerline goodness : 0.896099 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.99553516 0.06410662 -0.06928272 1.60418242] [-0.06492117 0.99784453 -0.00956749 0.2709613 ] [ 0.06852004 0.01402269 0.99755119 -0.06438745] [ 0. 0. 0. 1. ]] SLAMing on 25.095384749999997 meters Centerline goodness : 0.898109 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.06 [[ 0.99559549 0.06338025 -0.0690837 1.60423891] [-0.06423062 0.9978834 -0.01015602 0.27204907] [ 0.06829379 0.01454858 0.99755917 -0.06481633] [ 0. 0. 0. 1. ]] SLAMing on 25.12538475 meters Centerline goodness : 0.897995 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.07 [[ 0.99549603 0.06594605 -0.06810849 1.60321262] [-0.06652674 0.99776481 -0.0062908 0.27103018] [ 0.0675414 0.0107935 0.99765809 -0.06551431] [ 0. 0. 0. 1. ]] SLAMing on 25.15538475 meters Centerline goodness : 0.894903 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.07 [[ 0.99550624 0.06551607 -0.06837382 1.60427709] [-0.06613229 0.99778779 -0.00678582 0.27161196] [ 0.06777798 0.01127704 0.99763669 -0.06622864] [ 0. 0. 0. 1. ]] SLAMing on 25.185384749999997 meters Centerline goodness : 0.896275 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.07 [[ 0.99552518 0.06541486 -0.06819467 1.6042313 ] [-0.06602826 0.99779473 -0.00677766 0.27185807] [ 0.06760092 0.0112501 0.99764901 -0.06652317] [ 0. 0. 0. 1. ]] SLAMing on 25.21538475 meters Centerline goodness : 0.897909 Centerline is valid? [False, False] Translation: X:1.60, Y:0.27, Z:-0.07 [[ 0.99559516 0.06480923 -0.06774982 1.60293918] [-0.06549353 0.99782151 -0.00792623 0.27405595] [ 0.06708853 0.01232849 0.99767086 -0.06554286] [ 0. 0. 0. 1. ]] SLAMing on 25.24538475 meters Centerline goodness : 0.901864 Centerline is valid? [False, False] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 0.99562012 0.0645744 -0.06760711 1.60211477] [-0.06530965 0.99782695 -0.00871992 0.27550154] [ 0.06689711 0.01309712 0.99767392 -0.06458433] [ 0. 0. 0. 1. ]] SLAMing on 25.275384749999997 meters Centerline goodness : 0.904378 Centerline is valid? [False, False] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 0.99564484 0.06417522 -0.06762317 1.60176793] [-0.06497647 0.99783951 -0.00971443 0.27661109] [ 0.06685365 0.01406603 0.99766364 -0.06387337] [ 0. 0. 0. 1. ]] SLAMing on 25.305384749999998 meters Centerline goodness : 0.905592 Centerline is valid? [False, False] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 0.99569516 0.06416999 -0.06688322 1.599412 ] [-0.06502987 0.99782533 -0.01075728 0.27922324] [ 0.06604748 0.01506038 0.99770282 -0.06209515] [ 0. 0. 0. 1. ]] SLAMing on 25.33538475 meters Centerline goodness : 0.909781 Centerline is valid? [False, False] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 0.99571282 0.06364193 -0.06712444 1.6004037 ] [-0.06468503 0.99781467 -0.01348042 0.28446298] [ 0.06611983 0.01776458 0.99765354 -0.06191258] [ 0. 0. 0. 1. ]] SLAMing on 25.365384749999997 meters Centerline goodness : 0.911334 Centerline is valid? [False, False] Translation: X:1.60, Y:0.29, Z:-0.06 [[ 0.99563306 0.06504685 -0.06696049 1.60138447] [-0.06601698 0.99774174 -0.01237639 0.2861611 ] [ 0.06600423 0.01674287 0.99767887 -0.06283273] [ 0. 0. 0. 1. ]] SLAMing on 25.395384749999998 meters Centerline goodness : 0.911310 Centerline is valid? [False, False] Translation: X:1.60, Y:0.29, Z:-0.06 [[ 0.99542262 0.06840377 -0.06674381 1.6027235 ] [-0.06920363 0.99755497 -0.00974383 0.28850687] [ 0.0659141 0.01431815 0.99772257 -0.06405105] [ 0. 0. 0. 1. ]] SLAMing on 25.42538475 meters Centerline goodness : 0.912055 Centerline is valid? [False, False] Translation: X:1.60, Y:0.29, Z:-0.06 [[ 0.99538505 0.06835321 -0.06735316 1.60451763] [-0.06923068 0.99754245 -0.01077832 0.29030226] [ 0.06645091 0.01539148 0.99767098 -0.06467421] [ 0. 0. 0. 1. ]] SLAMing on 25.455384749999997 meters Centerline goodness : 0.912055 Centerline is valid? [False, False] Translation: X:1.60, Y:0.29, Z:-0.06 [[ 0.99538505 0.06835321 -0.06735316 1.60451763] [-0.06923068 0.99754245 -0.01077832 0.29030226] [ 0.06645091 0.01539148 0.99767098 -0.06467421] [ 0. 0. 0. 1. ]] SLAMing on 25.485384749999998 meters Centerline goodness : 0.913693 Centerline is valid? [False, False] Translation: X:1.61, Y:0.29, Z:-0.07 [[ 0.99517695 0.07152998 -0.06712901 1.60622042] [-0.07223611 0.99735427 -0.00814828 0.29229745] [ 0.06636856 0.01295812 0.99771103 -0.06641591] [ 0. 0. 0. 1. ]] SLAMing on 25.51538475 meters Centerline goodness : 0.914591 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:-0.07 [[ 0.99518803 0.07128879 -0.06722123 1.60706121] [-0.07209267 0.99735167 -0.00960654 0.29572113] [ 0.06635837 0.01440647 0.99769185 -0.06680768] [ 0. 0. 0. 1. ]] SLAMing on 25.545384749999997 meters Centerline goodness : 0.914000 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:-0.07 [[ 0.99521213 0.07091478 -0.06725997 1.607367 ] [-0.07176809 0.99736761 -0.0103534 0.29717563] [ 0.06634871 0.01513094 0.99768176 -0.06695491] [ 0. 0. 0. 1. ]] SLAMing on 25.575384749999998 meters Centerline goodness : 0.912971 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:-0.07 [[ 0.99525908 0.07051551 -0.0669845 1.60694114] [-0.07139383 0.99738966 -0.01080725 0.29809896] [ 0.06604757 0.0155383 0.99769548 -0.06692801] [ 0. 0. 0. 1. ]] SLAMing on 25.60538475 meters Centerline goodness : 0.916541 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:-0.07 [[ 0.99539227 0.06939541 -0.0661703 1.60541655] [-0.07029479 0.99746158 -0.01135914 0.29848741] [ 0.06521406 0.01595823 0.99774369 -0.06693765] [ 0. 0. 0. 1. ]] SLAMing on 25.635384749999997 meters Centerline goodness : 0.916887 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.07 [[ 0.99544416 0.06898989 -0.06581275 1.6048666 ] [-0.06988569 0.99748981 -0.01140484 0.29854775] [ 0.06486073 0.01595225 0.99776681 -0.06709344] [ 0. 0. 0. 1. ]] SLAMing on 25.665384749999998 meters Centerline goodness : 0.918064 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.07 [[ 0.99559929 0.06742043 -0.06508871 1.60395615] [-0.06836356 0.99758378 -0.0123706 0.30017617] [ 0.06409741 0.01676585 0.9978028 -0.06763152] [ 0. 0. 0. 1. ]] SLAMing on 25.69538475 meters Centerline goodness : 0.917539 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.07 [[ 0.99567243 0.06674265 -0.06466701 1.60329893] [-0.06770911 0.99762212 -0.01286817 0.3009452 ] [ 0.06365438 0.01719103 0.99782393 -0.06770747] [ 0. 0. 0. 1. ]] SLAMing on 25.725384749999996 meters Centerline goodness : 0.917689 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.07 [[ 0.99558196 0.06888138 -0.06381159 1.60214258] [-0.06963854 0.99752498 -0.0097157 0.30050225] [ 0.06298443 0.01411652 0.99791467 -0.06792188] [ 0. 0. 0. 1. ]] SLAMing on 25.755384749999997 meters Centerline goodness : 0.916879 Centerline is valid? [False, False] Translation: X:1.60, Y:0.30, Z:-0.07 [[ 0.99560405 0.06826713 -0.06412627 1.60378037] [-0.06912623 0.99754423 -0.01127266 0.30365339] [ 0.06319924 0.01565591 0.99787812 -0.06890043] [ 0. 0. 0. 1. ]] SLAMing on 25.78538475 meters Centerline goodness : 0.915511 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99559558 0.06807073 -0.06446569 1.60503331] [-0.06899231 0.99754288 -0.01217655 0.30555674] [ 0.06347842 0.01657056 0.99784563 -0.06945714] [ 0. 0. 0. 1. ]] SLAMing on 25.81538475 meters Centerline goodness : 0.913806 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99535227 0.0716998 -0.06428832 1.60566557] [-0.07246038 0.99732533 -0.00957517 0.30797507] [ 0.06342983 0.01418902 0.99788543 -0.06964207] [ 0. 0. 0. 1. ]] SLAMing on 25.845384749999997 meters Centerline goodness : 0.913465 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99533438 0.07167848 -0.0645884 1.60633887] [-0.07252628 0.9973072 -0.0108757 0.31078244] [ 0.06363493 0.01550931 0.99785272 -0.0693281 ] [ 0. 0. 0. 1. ]] SLAMing on 25.87538475 meters Centerline goodness : 0.914115 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99508786 0.07511397 -0.06448294 1.60689348] [-0.07584466 0.99707943 -0.00895586 0.31457839] [ 0.06362191 0.01380255 0.99787862 -0.06903211] [ 0. 0. 0. 1. ]] SLAMing on 25.90538475 meters Centerline goodness : 0.913385 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99508181 0.07503758 -0.06466496 1.60740701] [-0.0758356 0.99707046 -0.00997258 0.31708027] [ 0.06372721 0.01482743 0.9978572 -0.06892476] [ 0. 0. 0. 1. ]] SLAMing on 25.935384749999997 meters Centerline goodness : 0.913541 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99508744 0.07459628 -0.06508749 1.60868243] [-0.07546056 0.997089 -0.01091963 0.31855146] [ 0.06408346 0.01577753 0.99781981 -0.06941174] [ 0. 0. 0. 1. ]] SLAMing on 25.96538475 meters Centerline goodness : 0.912725 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99512709 0.07430251 -0.06481677 1.60830697] [-0.07514699 0.99711521 -0.01068611 0.31773872] [ 0.06383578 0.01550482 0.99783996 -0.06972634] [ 0. 0. 0. 1. ]] SLAMing on 25.99538475 meters Centerline goodness : 0.913800 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99548792 0.06912751 -0.06500152 1.60889289] [-0.0702515 0.99741403 -0.01516538 0.31840778] [ 0.06378508 0.01966341 0.99776992 -0.07084608] [ 0. 0. 0. 1. ]] SLAMing on 26.025384749999997 meters Centerline goodness : 0.911647 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99555308 0.06851613 -0.06464992 1.60876857] [-0.06963749 0.99745577 -0.01525148 0.31851658] [ 0.06344046 0.01968571 0.99779145 -0.07162035] [ 0. 0. 0. 1. ]] SLAMing on 26.055384749999998 meters Centerline goodness : 0.913667 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99565106 0.0671647 -0.06455906 1.60891912] [-0.06835223 0.99752706 -0.01636292 0.32043881] [ 0.06330039 0.02070451 0.99777973 -0.07191925] [ 0. 0. 0. 1. ]] SLAMing on 26.08538475 meters Centerline goodness : 0.913830 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99568072 0.06679124 -0.06448898 1.60865602] [-0.06800863 0.99754213 -0.01686807 0.32138193] [ 0.06320384 0.02118102 0.99777585 -0.07160429] [ 0. 0. 0. 1. ]] SLAMing on 26.115384749999997 meters Centerline goodness : 0.916271 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.9957182 0.0662417 -0.06447713 1.60853366] [-0.06753672 0.99755233 -0.01811462 0.3238329 ] [ 0.06311936 0.02239163 0.99775476 -0.07113989] [ 0. 0. 0. 1. ]] SLAMing on 26.145384749999998 meters Centerline goodness : 0.912149 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:-0.07 [[ 0.99571601 0.06618275 -0.06457145 1.60884863] [-0.06751857 0.99754225 -0.01872701 0.32528697] [ 0.06317334 0.02300656 0.99773735 -0.07112043] [ 0. 0. 0. 1. ]] SLAMing on 26.17538475 meters Centerline goodness : 0.912738 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:-0.07 [[ 0.99566854 0.06622949 -0.06525194 1.61038682] [-0.06775722 0.99747053 -0.0214824 0.3311651 ] [ 0.06366412 0.02581064 0.99763755 -0.07039549] [ 0. 0. 0. 1. ]] SLAMing on 26.205384749999997 meters Centerline goodness : 0.913695 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:-0.07 [[ 0.99543031 0.07005077 -0.06489523 1.61025944] [-0.07134954 0.9972905 -0.01791392 0.33203273] [ 0.06346451 0.0224623 0.99773128 -0.07028353] [ 0. 0. 0. 1. ]] SLAMing on 26.235384749999998 meters Centerline goodness : 0.917152 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:-0.07 [[ 0.9951664 0.07397885 -0.06458298 1.61016576] [-0.07508634 0.99706587 -0.01488965 0.33423581] [ 0.06329196 0.01966698 0.99780125 -0.06985561] [ 0. 0. 0. 1. ]] SLAMing on 26.26538475 meters Centerline goodness : 0.915592 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.07 [[ 0.9951708 0.07372082 -0.06480981 1.61074278] [-0.07489741 0.99706427 -0.015913 0.33613918] [ 0.06344643 0.02069024 0.99777075 -0.06979803] [ 0. 0. 0. 1. ]] SLAMing on 26.295384749999997 meters Centerline goodness : 0.915866 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.07 [[ 0.99493038 0.07717777 -0.06447583 1.61134792] [-0.07813896 0.99686389 -0.01251778 0.33684657] [ 0.06330753 0.0174924 0.99784076 -0.07064889] [ 0. 0. 0. 1. ]] SLAMing on 26.325384749999998 meters Centerline goodness : 0.916703 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.07 [[ 0.99492272 0.07702416 -0.06477702 1.61244363] [-0.07803614 0.99686266 -0.0132364 0.33871589] [ 0.06355427 0.01822414 0.99781197 -0.07116238] [ 0. 0. 0. 1. ]] SLAMing on 26.35538475 meters Centerline goodness : 0.916900 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.07 [[ 0.99494505 0.07654482 -0.06500185 1.61313353] [-0.07765279 0.99687224 -0.01468965 0.34171536] [ 0.06367413 0.01966297 0.99777702 -0.07112423] [ 0. 0. 0. 1. ]] SLAMing on 26.385384749999997 meters Centerline goodness : 0.914848 Centerline is valid? [False, False] Translation: X:1.61, Y:0.34, Z:-0.07 [[ 0.99493077 0.07658328 -0.06517492 1.61361621] [-0.07771117 0.99686387 -0.01494642 0.34246333] [ 0.06382588 0.01993547 0.99776191 -0.07123168] [ 0. 0. 0. 1. ]] SLAMing on 26.415384749999998 meters Centerline goodness : 0.916514 Centerline is valid? [False, False] Translation: X:1.62, Y:0.34, Z:-0.07 [[ 0.9947548 0.07851071 -0.06556638 1.61593794] [-0.0795306 0.99674649 -0.01308867 0.34262212] [ 0.06432545 0.01823455 0.99776237 -0.07266018] [ 0. 0. 0. 1. ]] SLAMing on 26.44538475 meters Centerline goodness : 0.917421 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99469295 0.0790443 -0.06586292 1.61683284] [-0.08012525 0.99668744 -0.01393145 0.34518417] [ 0.06454355 0.0191348 0.99773142 -0.07262417] [ 0. 0. 0. 1. ]] SLAMing on 26.475384749999996 meters Centerline goodness : 0.918175 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99439959 0.0828329 -0.06563656 1.61713425] [-0.08368107 0.99643961 -0.01027542 0.34555351] [ 0.06455172 0.01571041 0.99779069 -0.07276502] [ 0. 0. 0. 1. ]] SLAMing on 26.505384749999997 meters Centerline goodness : 0.922305 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99405136 0.08677116 -0.06582296 1.61843153] [-0.08744576 0.99614156 -0.00743238 0.34827565] [ 0.06492407 0.01314411 0.99780364 -0.07282841] [ 0. 0. 0. 1. ]] SLAMing on 26.53538475 meters Centerline goodness : 0.915527 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99404537 0.08672541 -0.0659735 1.61875485] [-0.08743295 0.99613901 -0.00790852 0.34947452] [ 0.06503291 0.01362969 0.99779003 -0.07271801] [ 0. 0. 0. 1. ]] SLAMing on 26.56538475 meters Centerline goodness : 0.918253 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99404796 0.08673825 -0.06591761 1.61838425] [-0.0874401 0.99613899 -0.00783256 0.34899148] [ 0.06498372 0.01354979 0.99779433 -0.07242569] [ 0. 0. 0. 1. ]] SLAMing on 26.595384749999997 meters Centerline goodness : 0.922377 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99440247 0.08248478 -0.06603026 1.61740804] [-0.08344361 0.99644153 -0.01189252 0.34895937] [ 0.06481435 0.01733576 0.99774675 -0.07173178] [ 0. 0. 0. 1. ]] SLAMing on 26.62538475 meters Centerline goodness : 0.923225 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99446277 0.08190239 -0.06584684 1.61663542] [-0.0828529 0.99649155 -0.01183176 0.34792807] [ 0.06464677 0.01722184 0.99775959 -0.0714142 ] [ 0. 0. 0. 1. ]] SLAMing on 26.65538475 meters Centerline goodness : 0.923809 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99458871 0.08053164 -0.06563499 1.61608594] [-0.08148359 0.996603 -0.01195372 0.34603481] [ 0.06444937 0.01723721 0.9977721 -0.0716714 ] [ 0. 0. 0. 1. ]] SLAMing on 26.685384749999997 meters Centerline goodness : 0.923932 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.9946014 0.08045684 -0.06553438 1.61617325] [-0.0814187 0.99660609 -0.01213692 0.34644149] [ 0.06433546 0.01740712 0.9977765 -0.07193003] [ 0. 0. 0. 1. ]] SLAMing on 26.71538475 meters Centerline goodness : 0.925516 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99433183 0.08406755 -0.06509118 1.61593786] [-0.08479423 0.99636241 -0.0084783 0.34651828] [ 0.06414165 0.0139496 0.9978433 -0.07196154] [ 0. 0. 0. 1. ]] SLAMing on 26.74538475 meters Centerline goodness : 0.925548 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99433357 0.08404453 -0.06509431 1.61599365] [-0.08481474 0.99635467 -0.00915561 0.34840034] [ 0.06408755 0.01462469 0.99783711 -0.07173096] [ 0. 0. 0. 1. ]] SLAMing on 26.775384749999997 meters Centerline goodness : 0.925107 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99432923 0.08408301 -0.06511093 1.6165097 ] [-0.08492282 0.99633496 -0.01023487 0.35151451] [ 0.06401172 0.01570623 0.99782554 -0.07182851] [ 0. 0. 0. 1. ]] SLAMing on 26.805384749999998 meters Centerline goodness : 0.923775 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99432233 0.08402804 -0.06528707 1.61745802] [-0.08489849 0.99633248 -0.0106697 0.35268564] [ 0.06415108 0.0161519 0.99780948 -0.0725111 ] [ 0. 0. 0. 1. ]] SLAMing on 26.83538475 meters Centerline goodness : 0.923053 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.08 [[ 0.99428325 0.08425594 -0.06558773 1.62067509] [-0.08510886 0.99631826 -0.01031562 0.35305206] [ 0.06447711 0.01583875 0.99779348 -0.07537702] [ 0. 0. 0. 1. ]] SLAMing on 26.865384749999997 meters Centerline goodness : 0.924120 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.08 [[ 0.99429426 0.08419194 -0.06550301 1.62075836] [-0.08504773 0.99632278 -0.01038308 0.35306177] [ 0.06438797 0.01589472 0.99779835 -0.07568022] [ 0. 0. 0. 1. ]] SLAMing on 26.895384749999998 meters Centerline goodness : 0.921779 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.08 [[ 0.99428036 0.08428126 -0.06559901 1.62166298] [-0.08516761 0.99630778 -0.01082956 0.3547071 ] [ 0.06444407 0.01635453 0.9977873 -0.07634637] [ 0. 0. 0. 1. ]] SLAMing on 26.92538475 meters Centerline goodness : 0.918840 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.9942599 0.08433325 -0.06584191 1.62238427] [-0.08524934 0.99629641 -0.01122517 0.35616731] [ 0.06465141 0.01677372 0.99776693 -0.07653805] [ 0. 0. 0. 1. ]] SLAMing on 26.955384749999997 meters Centerline goodness : 0.920580 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99402878 0.08682328 -0.06609471 1.62468674] [-0.08757838 0.99612043 -0.00860872 0.35607993] [ 0.06509086 0.01434578 0.99777622 -0.07814367] [ 0. 0. 0. 1. ]] SLAMing on 26.985384749999998 meters Centerline goodness : 0.919888 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99402032 0.08683346 -0.06620842 1.62473696] [-0.08758286 0.99612101 -0.00849607 0.35557272] [ 0.06521385 0.01424399 0.99776964 -0.0780186 ] [ 0. 0. 0. 1. ]] SLAMing on 27.01538475 meters Centerline goodness : 0.923026 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99404711 0.08670383 -0.06597572 1.62352221] [-0.08743895 0.99613503 -0.00833206 0.35502342] [ 0.06499831 0.01405131 0.99778644 -0.07704531] [ 0. 0. 0. 1. ]] SLAMing on 27.045384749999997 meters Centerline goodness : 0.921243 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99406898 0.08652652 -0.06587886 1.62294321] [-0.087275 0.99614744 -0.00856423 0.35527451] [ 0.06488402 0.01426302 0.99779087 -0.07651371] [ 0. 0. 0. 1. ]] SLAMing on 27.075384749999998 meters Centerline goodness : 0.923280 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99408255 0.08637308 -0.06587547 1.62298509] [-0.08712933 0.99615911 -0.00868927 0.35516517] [ 0.06487193 0.01437754 0.99779002 -0.07660626] [ 0. 0. 0. 1. ]] SLAMing on 27.10538475 meters Centerline goodness : 0.924816 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99408306 0.08624733 -0.06603227 1.62342131] [-0.08702162 0.99616635 -0.00893553 0.3558073 ] [ 0.06500846 0.01462889 0.99777748 -0.07677535] [ 0. 0. 0. 1. ]] SLAMing on 27.135384749999997 meters Centerline goodness : 0.927588 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.9938256 0.08949998 -0.06557768 1.62340478] [-0.09009461 0.99591415 -0.00616117 0.35822527] [ 0.06475832 0.01203132 0.99782845 -0.0768145 ] [ 0. 0. 0. 1. ]] SLAMing on 27.165384749999998 meters Centerline goodness : 0.928386 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.993836 0.08942771 -0.06551864 1.62318972] [-0.09007352 0.99591077 -0.00696424 0.36038428] [ 0.06462792 0.01282281 0.99782704 -0.07639722] [ 0. 0. 0. 1. ]] SLAMing on 27.19538475 meters Centerline goodness : 0.929517 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.08 [[ 0.99383853 0.0893079 -0.06564354 1.62293479] [-0.09000026 0.99591228 -0.00766098 0.36196571] [ 0.06469102 0.01352171 0.99781373 -0.07559662] [ 0. 0. 0. 1. ]] SLAMing on 27.225384749999996 meters Centerline goodness : 0.931508 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.07 [[ 0.99380236 0.08940368 -0.06605947 1.62334504] [-0.09016704 0.99588901 -0.00865994 0.3646073 ] [ 0.06501367 0.01456265 0.99777811 -0.07479136] [ 0. 0. 0. 1. ]] SLAMing on 27.255384749999997 meters Centerline goodness : 0.930519 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 0.99380334 0.08927999 -0.06621182 1.62379365] [-0.09007743 0.99589272 -0.00915176 0.3657102 ] [ 0.0651228 0.01505924 0.99776362 -0.074901 ] [ 0. 0. 0. 1. ]] SLAMing on 27.28538475 meters Centerline goodness : 0.931364 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.08 [[ 0.99380092 0.0890003 -0.06662344 1.62524153] [-0.08984435 0.99590784 -0.00977594 0.36703014] [ 0.06548075 0.01570108 0.9977303 -0.07569312] [ 0. 0. 0. 1. ]] SLAMing on 27.31538475 meters Centerline goodness : 0.929279 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.08 [[ 0.99379463 0.08896752 -0.0667609 1.62580304] [-0.08982274 0.99590842 -0.00991385 0.36747013] [ 0.06560573 0.01584897 0.99771975 -0.07605301] [ 0. 0. 0. 1. ]] SLAMing on 27.345384749999997 meters Centerline goodness : 0.929279 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.08 [[ 0.99379463 0.08896752 -0.0667609 1.62580304] [-0.08982274 0.99590842 -0.00991385 0.36747013] [ 0.06560573 0.01584897 0.99771975 -0.07605301] [ 0. 0. 0. 1. ]] SLAMing on 27.37538475 meters Centerline goodness : 0.929838 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.08 [[ 0.99378928 0.08887715 -0.06696062 1.62627809] [-0.08974836 0.99591315 -0.01011101 0.36819921] [ 0.06578833 0.01605782 0.99770439 -0.07611507] [ 0. 0. 0. 1. ]] SLAMing on 27.40538475 meters Centerline goodness : 0.930756 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.08 [[ 0.99377073 0.08899842 -0.06707466 1.62612417] [-0.08987076 0.99590226 -0.01009618 0.36820101] [ 0.06590126 0.01606134 0.99769688 -0.07561251] [ 0. 0. 0. 1. ]] SLAMing on 27.435384749999997 meters Centerline goodness : 0.931868 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 0.9935657 0.09164762 -0.06654251 1.62444424] [-0.0923561 0.99569671 -0.0076435 0.36824458] [ 0.06555565 0.01373992 0.99775431 -0.07444054] [ 0. 0. 0. 1. ]] SLAMing on 27.46538475 meters Centerline goodness : 0.930659 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 9.92732997e-01 1.00702514e-01 -6.58802038e-02 1.62485275e+00] [-1.00908252e-01 9.94895714e-01 2.05646461e-04 3.69295225e-01] [ 6.55646416e-02 6.44370418e-03 9.97827518e-01 -7.45376388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49538475 meters Centerline goodness : 0.931114 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.07 [[ 0.99228205 0.10524857 -0.06556737 1.62500908] [-0.10522076 0.99444129 0.00388697 0.37069782] [ 0.065612 0.00304208 0.99784057 -0.07440592] [ 0. 0. 0. 1. ]] SLAMing on 27.525384749999997 meters Centerline goodness : 0.932022 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.07 [[ 9.91801181e-01 1.09865587e-01 -6.52684416e-02 1.62534350e+00] [-1.09590106e-01 9.93946284e-01 7.79696114e-03 3.71486528e-01] [ 6.57299427e-02 -5.80259848e-04 9.97837280e-01 -7.43994852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555384749999998 meters Centerline goodness : 0.928801 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:-0.07 [[ 0.99119373 0.11541826 -0.06491235 1.62563611] [-0.11486043 0.99330582 0.01227345 0.37185827] [ 0.06589439 -0.00470951 0.99781549 -0.07438617] [ 0. 0. 0. 1. ]] SLAMing on 27.58538475 meters Centerline goodness : 0.932425 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 0.99094669 0.11784311 -0.06432469 1.62325295] [-0.11715196 0.99300922 0.01442605 0.37021863] [ 0.06557502 -0.00675968 0.99782475 -0.07253758] [ 0. 0. 0. 1. ]] SLAMing on 27.615384749999997 meters Centerline goodness : 0.931010 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 0.99088456 0.11835398 -0.06434373 1.62268406] [-0.11761137 0.99294302 0.01522239 0.36872192] [ 0.06569129 -0.00751608 0.99781169 -0.07182394] [ 0. 0. 0. 1. ]] SLAMing on 27.645384749999998 meters Centerline goodness : 0.932398 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:-0.07 [[ 0.99077289 0.11932864 -0.06426312 1.62196559] [-0.11847462 0.99281234 0.01695373 0.36524873] [ 0.06582429 -0.00918375 0.99778897 -0.07120225] [ 0. 0. 0. 1. ]] SLAMing on 27.67538475 meters Centerline goodness : 0.934221 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.07 [[ 0.99069903 0.11999117 -0.06416813 1.62173576] [-0.11907106 0.99272274 0.01798988 0.36342314] [ 0.06585979 -0.01018199 0.99777694 -0.0711546 ] [ 0. 0. 0. 1. ]] SLAMing on 27.705384749999997 meters Centerline goodness : 0.932736 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.07 [[ 0.99107354 0.11663863 -0.06456518 1.62152333] [-0.11595076 0.99315183 0.01431324 0.36365114] [ 0.0657925 -0.00669909 0.99781084 -0.07094035] [ 0. 0. 0. 1. ]] SLAMing on 27.735384749999998 meters Centerline goodness : 0.932727 Centerline is valid? [False, False] Translation: X:1.62, Y:0.36, Z:-0.07 [[ 0.99140757 0.1135441 -0.06495208 1.6211366 ] [-0.11299121 0.99352188 0.01213525 0.35940377] [ 0.0659092 -0.00469196 0.99781459 -0.07085376] [ 0. 0. 0. 1. ]] SLAMing on 27.76538475 meters Centerline goodness : 0.932116 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 9.92093829e-01 1.07055773e-01 -6.54896655e-02 1.61996079e+00] [-1.06791556e-01 9.94252902e-01 7.53202601e-03 3.52329746e-01] [ 6.59196368e-02 -4.78733262e-04 9.97824820e-01 -7.06495095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795384749999997 meters Centerline goodness : 0.932809 Centerline is valid? [False, False] Translation: X:1.62, Y:0.35, Z:-0.07 [[ 0.99248123 0.1033052 -0.06564324 1.61924535] [-0.10320145 0.99464802 0.00497864 0.3488093 ] [ 0.06580623 0.00183327 0.99783074 -0.07070153] [ 0. 0. 0. 1. ]] SLAMing on 27.825384749999998 meters Centerline goodness : 0.933194 Centerline is valid? [False, False] Translation: X:1.62, Y:0.34, Z:-0.07 [[ 9.93185672e-01 9.60456581e-02 -6.60109967e-02 1.61803397e+00] [-9.62204682e-02 9.95359903e-01 5.33344774e-04 3.41682821e-01] [ 6.57559248e-02 5.82189862e-03 9.97818753e-01 -7.07822027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.85538475 meters Centerline goodness : 0.933318 Centerline is valid? [False, False] Translation: X:1.62, Y:0.34, Z:-0.07 [[ 0.993506 0.09240799 -0.06638223 1.61791385] [-0.09273623 0.99568895 -0.00187384 0.3385462 ] [ 0.06592289 0.00801771 0.99779251 -0.07105884] [ 0. 0. 0. 1. ]] SLAMing on 27.885384749999997 meters Centerline goodness : 0.931655 Centerline is valid? [False, False] Translation: X:1.62, Y:0.33, Z:-0.07 [[ 0.99376957 0.08945294 -0.06648468 1.61711184] [-0.08981831 0.99595498 -0.00252093 0.33184623] [ 0.06599024 0.00847677 0.99778426 -0.07136868] [ 0. 0. 0. 1. ]] SLAMing on 27.915384749999998 meters Centerline goodness : 0.933779 Centerline is valid? [False, False] Translation: X:1.62, Y:0.33, Z:-0.07 [[ 0.99404 0.08594014 -0.06707282 1.61739947] [-0.08653934 0.99622992 -0.00607433 0.3312159 ] [ 0.06629792 0.01184257 0.99772959 -0.07121215] [ 0. 0. 0. 1. ]] SLAMing on 27.94538475 meters Centerline goodness : 0.932672 Centerline is valid? [False, False] Translation: X:1.62, Y:0.33, Z:-0.07 [[ 0.9942433 0.08328033 -0.06741401 1.61643499] [-0.08398233 0.99643794 -0.00764226 0.32681129] [ 0.06653743 0.01325985 0.99769582 -0.07046304] [ 0. 0. 0. 1. ]] SLAMing on 27.975384749999996 meters Centerline goodness : 0.933434 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99422323 0.08351552 -0.0674191 1.61623621] [-0.08412823 0.99643505 -0.00629578 0.32369295] [ 0.06665296 0.01193126 0.99770488 -0.07063583] [ 0. 0. 0. 1. ]] SLAMing on 28.005384749999997 meters Centerline goodness : 0.934472 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99452968 0.07960946 -0.06762429 1.61591561] [-0.08043119 0.99671477 -0.00951264 0.32204509] [ 0.06664484 0.01489971 0.99766551 -0.07076703] [ 0. 0. 0. 1. ]] SLAMing on 28.03538475 meters Centerline goodness : 0.933247 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99454867 0.07955624 -0.06740735 1.61535338] [-0.08031713 0.99673183 -0.00864974 0.32049747] [ 0.06649891 0.01401655 0.99768804 -0.07081928] [ 0. 0. 0. 1. ]] SLAMing on 28.06538475 meters Centerline goodness : 0.937053 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99486979 0.0753672 -0.06748242 1.61436636] [-0.07630788 0.99701835 -0.01146852 0.31778959] [ 0.06641686 0.01655912 0.99765455 -0.07054845] [ 0. 0. 0. 1. ]] SLAMing on 28.095384749999997 meters Centerline goodness : 0.935679 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:-0.07 [[ 0.99491947 0.07502387 -0.06713174 1.6133629 ] [-0.07590091 0.99705895 -0.01060699 0.31539135] [ 0.06613853 0.01564846 0.99768774 -0.07046015] [ 0. 0. 0. 1. ]] SLAMing on 28.12538475 meters Centerline goodness : 0.935354 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99495335 0.07480662 -0.06687154 1.61259141] [-0.07565618 0.99708118 -0.01025995 0.31434967] [ 0.06590884 0.01526742 0.99770884 -0.07024418] [ 0. 0. 0. 1. ]] SLAMing on 28.15538475 meters Centerline goodness : 0.939885 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99498846 0.07454086 -0.06664549 1.61197657] [-0.07538381 0.99710221 -0.01022079 0.31389037] [ 0.0656905 0.01519356 0.99772437 -0.07004051] [ 0. 0. 0. 1. ]] SLAMing on 28.185384749999997 meters Centerline goodness : 0.940249 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99492612 0.07496701 -0.06709661 1.61355708] [-0.07579221 0.99707513 -0.00983523 0.31341331] [ 0.06616304 0.01487072 0.99769801 -0.0710529 ] [ 0. 0. 0. 1. ]] SLAMing on 28.21538475 meters Centerline goodness : 0.935007 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:-0.07 [[ 0.99489234 0.07515853 -0.06738271 1.61464837] [-0.07599561 0.99705857 -0.00994312 0.31394836] [ 0.0664372 0.01501313 0.99767766 -0.07172374] [ 0. 0. 0. 1. ]] SLAMing on 28.24538475 meters Centerline goodness : 0.936078 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99485834 0.07515783 -0.06788354 1.61605974] [-0.07604184 0.99704902 -0.01053015 0.31513341] [ 0.0668918 0.01563799 0.99763768 -0.07220079] [ 0. 0. 0. 1. ]] SLAMing on 28.275384749999997 meters Centerline goodness : 0.935475 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99481587 0.07530555 -0.06834072 1.61723453] [-0.07622537 0.99703049 -0.01094923 0.31586749] [ 0.06731324 0.01610177 0.99760196 -0.07250329] [ 0. 0. 0. 1. ]] SLAMing on 28.305384749999998 meters Centerline goodness : 0.930216 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.9947764 0.07559494 -0.06859538 1.61781076] [-0.07648795 0.9970154 -0.01048308 0.31502612] [ 0.06759819 0.01567504 0.99758948 -0.07274254] [ 0. 0. 0. 1. ]] SLAMing on 28.33538475 meters Centerline goodness : 0.931311 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.9947005 0.07653889 -0.06864922 1.61985654] [-0.07732567 0.9969664 -0.00887383 0.31394676] [ 0.06776177 0.01413515 0.99760139 -0.07504419] [ 0. 0. 0. 1. ]] SLAMing on 28.365384749999997 meters Centerline goodness : 0.922529 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99472523 0.07590716 -0.06899147 1.62142431] [-0.07664525 0.99702543 -0.00811117 0.31203049] [ 0.06817055 0.01335626 0.99758428 -0.0768101 ] [ 0. 0. 0. 1. ]] SLAMing on 28.395384749999998 meters Centerline goodness : 0.922178 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99475329 0.07574877 -0.0687606 1.62117681] [-0.07641438 0.99705088 -0.00709811 0.30962407] [ 0.06802014 0.01231517 0.99760794 -0.07746569] [ 0. 0. 0. 1. ]] SLAMing on 28.42538475 meters Centerline goodness : 0.928801 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99482202 0.0744693 -0.06916271 1.62243236] [-0.07513215 0.99714881 -0.00702897 0.30757809] [ 0.06844207 0.01218892 0.99758063 -0.07861182] [ 0. 0. 0. 1. ]] SLAMing on 28.455384749999997 meters Centerline goodness : 0.925684 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99488497 0.07417116 -0.06857499 1.62110009] [-0.07476197 0.99718284 -0.00608608 0.30541983] [ 0.06793039 0.01118175 0.9976274 -0.07861911] [ 0. 0. 0. 1. ]] SLAMing on 28.485384749999998 meters Centerline goodness : 0.926961 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99513015 0.07046082 -0.06892934 1.62018086] [-0.07137452 0.99739024 -0.01088066 0.3073568 ] [ 0.06798279 0.01574748 0.99756221 -0.07678025] [ 0. 0. 0. 1. ]] SLAMing on 28.51538475 meters Centerline goodness : 0.930952 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.08 [[ 0.99516235 0.07034292 -0.06858409 1.61904966] [-0.07126606 0.99739553 -0.01110451 0.30767788] [ 0.06762434 0.01593851 0.99758354 -0.07602655] [ 0. 0. 0. 1. ]] SLAMing on 28.545384749999997 meters Centerline goodness : 0.928633 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.07 [[ 0.99509631 0.07127522 -0.06857973 1.61877369] [-0.07226864 0.99731166 -0.01211211 0.3116658 ] [ 0.06753207 0.01700888 0.99757211 -0.07479749] [ 0. 0. 0. 1. ]] SLAMing on 28.575384749999998 meters Centerline goodness : 0.932735 Centerline is valid? [False, False] Translation: X:1.62, Y:0.31, Z:-0.07 [[ 0.99484156 0.07497999 -0.06832477 1.6189625 ] [-0.07575349 0.99708777 -0.00879752 0.31271629] [ 0.06746615 0.01392797 0.99762434 -0.07476961] [ 0. 0. 0. 1. ]] SLAMing on 28.60538475 meters Centerline goodness : 0.934106 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99481909 0.07485307 -0.0687895 1.61975404] [-0.07573666 0.99707441 -0.01032415 0.31559783] [ 0.06781546 0.01548054 0.99757777 -0.07422395] [ 0. 0. 0. 1. ]] SLAMing on 28.635384749999997 meters Centerline goodness : 0.936675 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99458951 0.07829334 -0.0682778 1.61905442] [-0.07897723 0.99684917 -0.007371 0.31692623] [ 0.06748557 0.01272351 0.99763912 -0.07357116] [ 0. 0. 0. 1. ]] SLAMing on 28.665384749999998 meters Centerline goodness : 0.933594 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99458606 0.07810044 -0.06854838 1.61940539] [-0.07885683 0.99685061 -0.0083945 0.31868193] [ 0.06767688 0.01375456 0.99761248 -0.07308761] [ 0. 0. 0. 1. ]] SLAMing on 28.69538475 meters Centerline goodness : 0.936379 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99431707 0.08170373 -0.06825004 1.61956949] [-0.08224131 0.9965994 -0.00509969 0.31978457] [ 0.06760128 0.01068368 0.99765521 -0.07309584] [ 0. 0. 0. 1. ]] SLAMing on 28.725384749999996 meters Centerline goodness : 0.935960 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99433078 0.08136785 -0.06845117 1.6207098 ] [-0.08195927 0.99661838 -0.00587182 0.32128701] [ 0.06774192 0.01144874 0.99763719 -0.07390186] [ 0. 0. 0. 1. ]] SLAMing on 28.755384749999997 meters Centerline goodness : 0.935398 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.07 [[ 0.99432419 0.08133001 -0.0685918 1.62121396] [-0.08191861 0.9966221 -0.00580779 0.3210928 ] [ 0.06788776 0.01139377 0.9976279 -0.07427425] [ 0. 0. 0. 1. ]] SLAMing on 28.78538475 meters Centerline goodness : 0.933948 Centerline is valid? [False, False] Translation: X:1.62, Y:0.32, Z:-0.08 [[ 0.99434595 0.08052155 -0.06922731 1.62445547] [-0.08110126 0.99669014 -0.00559993 0.31953765] [ 0.06854726 0.01118269 0.99758519 -0.07706476] [ 0. 0. 0. 1. ]] SLAMing on 28.815384749999996 meters Centerline goodness : 0.928792 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99434713 0.08033713 -0.06942426 1.62546859] [-0.08091623 0.99670537 -0.00556529 0.31928224] [ 0.06874844 0.01115138 0.9975717 -0.07798229] [ 0. 0. 0. 1. ]] SLAMing on 28.845384749999997 meters Centerline goodness : 0.930560 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99434281 0.08012848 -0.06972656 1.62666067] [-0.08073527 0.99671798 -0.00592364 0.3200515 ] [ 0.06902306 0.01151952 0.99754855 -0.0787305 ] [ 0. 0. 0. 1. ]] SLAMing on 28.87538475 meters Centerline goodness : 0.928294 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99429385 0.08036125 -0.07015556 1.62752388] [-0.08098605 0.99669655 -0.00610298 0.32054845] [ 0.06943336 0.01174978 0.99751739 -0.07873777] [ 0. 0. 0. 1. ]] SLAMing on 28.90538475 meters Centerline goodness : 0.927383 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.9944747 0.07732302 -0.0710015 1.6283556 ] [-0.07825097 0.99687967 -0.01037812 0.32174182] [ 0.06997749 0.01587671 0.99742222 -0.07815695] [ 0. 0. 0. 1. ]] SLAMing on 28.935384749999997 meters Centerline goodness : 0.925126 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99447523 0.07724954 -0.07107404 1.62847273] [-0.07821548 0.99687683 -0.01090528 0.32288505] [ 0.07000964 0.01640413 0.99741143 -0.07796888] [ 0. 0. 0. 1. ]] SLAMing on 28.96538475 meters Centerline goodness : 0.928767 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99418918 0.08102313 -0.07087409 1.62892011] [-0.08181215 0.99661323 -0.00829685 0.32596995] [ 0.06996182 0.014047 0.99745076 -0.07779184] [ 0. 0. 0. 1. ]] SLAMing on 28.99538475 meters Centerline goodness : 0.928316 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99416976 0.08083809 -0.07135611 1.6297829 ] [-0.08170884 0.99661224 -0.00936474 0.3280888 ] [ 0.07035734 0.01514057 0.99740694 -0.07748725] [ 0. 0. 0. 1. ]] SLAMing on 29.025384749999997 meters Centerline goodness : 0.928879 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.9941565 0.080878 -0.07149541 1.63000685] [-0.08177646 0.99660324 -0.00972548 0.32905059] [ 0.07046598 0.01551529 0.99739351 -0.07729427] [ 0. 0. 0. 1. ]] SLAMing on 29.055384749999998 meters Centerline goodness : 0.927612 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99416565 0.08065856 -0.07161603 1.62973453] [-0.0815719 0.99661812 -0.00991675 0.32886606] [ 0.07057396 0.01570075 0.99738298 -0.07666463] [ 0. 0. 0. 1. ]] SLAMing on 29.08538475 meters Centerline goodness : 0.923948 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99420119 0.08035337 -0.07146559 1.62862387] [-0.08121074 0.99665478 -0.00916869 0.32675449] [ 0.07048978 0.0149193 0.99740092 -0.07591929] [ 0. 0. 0. 1. ]] SLAMing on 29.115384749999997 meters Centerline goodness : 0.928822 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99422426 0.0803182 -0.07118361 1.62773574] [-0.08114172 0.99666417 -0.00874908 0.32577458] [ 0.07024344 0.01447451 0.99742486 -0.07555766] [ 0. 0. 0. 1. ]] SLAMing on 29.145384749999998 meters Centerline goodness : 0.930907 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.07 [[ 0.99445287 0.07701327 -0.07164113 1.62769693] [-0.07811369 0.99686378 -0.0126832 0.32716467] [ 0.07043967 0.01820899 0.99734983 -0.0748237 ] [ 0. 0. 0. 1. ]] SLAMing on 29.17538475 meters Centerline goodness : 0.934622 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.07 [[ 0.99443031 0.07705771 -0.07190597 1.62825234] [-0.07817409 0.99685705 -0.01283842 0.32738292] [ 0.07069067 0.0183881 0.99732879 -0.07489866] [ 0. 0. 0. 1. ]] SLAMing on 29.205384749999997 meters Centerline goodness : 0.930974 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99435537 0.07768667 -0.07226466 1.6293329 ] [-0.07876531 0.99681861 -0.01219394 0.32656355] [ 0.07108745 0.01781706 0.99731095 -0.07551704] [ 0. 0. 0. 1. ]] SLAMing on 29.235384749999998 meters Centerline goodness : 0.931115 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99430532 0.07815704 -0.07244597 1.62968069] [-0.07920041 0.99679077 -0.01163871 0.32583833] [ 0.07130382 0.01731018 0.99730443 -0.07561983] [ 0. 0. 0. 1. ]] SLAMing on 29.26538475 meters Centerline goodness : 0.931115 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99430532 0.07815704 -0.07244597 1.62968069] [-0.07920041 0.99679077 -0.01163871 0.32583833] [ 0.07130382 0.01731018 0.99730443 -0.07561983] [ 0. 0. 0. 1. ]] SLAMing on 29.295384749999997 meters Centerline goodness : 0.929662 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99424465 0.07860862 -0.07278913 1.63046091] [-0.07963765 0.99675937 -0.01133999 0.32514849] [ 0.07166182 0.01707148 0.99728288 -0.07586438] [ 0. 0. 0. 1. ]] SLAMing on 29.325384749999998 meters Centerline goodness : 0.928500 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99423237 0.07873154 -0.07282397 1.63076846] [-0.07974215 0.99675404 -0.01107105 0.32449718] [ 0.07171595 0.01681434 0.99728336 -0.07621983] [ 0. 0. 0. 1. ]] SLAMing on 29.35538475 meters Centerline goodness : 0.927637 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99420823 0.07900367 -0.07285883 1.6310811 ] [-0.07995253 0.99674653 -0.0101955 0.32289302] [ 0.07181631 0.0159617 0.99729015 -0.07676103] [ 0. 0. 0. 1. ]] SLAMing on 29.385384749999997 meters Centerline goodness : 0.927915 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99422071 0.07875858 -0.0729539 1.63155029] [-0.07972004 0.99676348 -0.01035767 0.32299511] [ 0.07190203 0.0161137 0.99728153 -0.07716846] [ 0. 0. 0. 1. ]] SLAMing on 29.415384749999998 meters Centerline goodness : 0.919452 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99424628 0.07860835 -0.07276723 1.63138362] [-0.07956693 0.99677564 -0.01036506 0.32314526] [ 0.07171782 0.01609529 0.99729509 -0.07739226] [ 0. 0. 0. 1. ]] SLAMing on 29.44538475 meters Centerline goodness : 0.921374 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99425173 0.07846343 -0.07284903 1.63196046] [-0.07944304 0.99678258 -0.01064394 0.32379813] [ 0.07177949 0.0163701 0.99728618 -0.07788093] [ 0. 0. 0. 1. ]] SLAMing on 29.475384749999996 meters Centerline goodness : 0.926686 Centerline is valid? [False, False] Translation: X:1.63, Y:0.32, Z:-0.08 [[ 0.99422872 0.07840613 -0.07322388 1.63306721] [-0.0794277 0.99677837 -0.01114069 0.32476397] [ 0.07211448 0.0168924 0.9972533 -0.07831571] [ 0. 0. 0. 1. ]] SLAMing on 29.505384749999997 meters Centerline goodness : 0.928432 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99424124 0.07837029 -0.07309212 1.63257288] [-0.07945473 0.99676571 -0.01204441 0.32683902] [ 0.0719118 0.01778257 0.99725246 -0.07759312] [ 0. 0. 0. 1. ]] SLAMing on 29.53538475 meters Centerline goodness : 0.930733 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99430164 0.07800842 -0.07265626 1.63168574] [-0.0791506 0.99677827 -0.01297162 0.32866601] [ 0.07141029 0.01864849 0.99727268 -0.07713076] [ 0. 0. 0. 1. ]] SLAMing on 29.565384749999996 meters Centerline goodness : 0.929950 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99432201 0.07770313 -0.07270462 1.631818 ] [-0.07890149 0.99678753 -0.01375393 0.33013243] [ 0.07140234 0.01941234 0.99725868 -0.07697605] [ 0. 0. 0. 1. ]] SLAMing on 29.595384749999997 meters Centerline goodness : 0.930890 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99434891 0.07740559 -0.07265413 1.63182486] [-0.07865576 0.99679634 -0.01450239 0.33192572] [ 0.0712988 0.0201351 0.99725175 -0.07687251] [ 0. 0. 0. 1. ]] SLAMing on 29.62538475 meters Centerline goodness : 0.931611 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99424917 0.07917222 -0.07211341 1.63063287] [-0.08031826 0.9966828 -0.01312901 0.33453607] [ 0.07083475 0.01884553 0.99731002 -0.07601235] [ 0. 0. 0. 1. ]] SLAMing on 29.65538475 meters Centerline goodness : 0.930909 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99406686 0.08190621 -0.07157128 1.63028002] [-0.08282512 0.9965143 -0.00996197 0.3343632 ] [ 0.07050586 0.01583076 0.99738574 -0.07624223] [ 0. 0. 0. 1. ]] SLAMing on 29.685384749999997 meters Centerline goodness : 0.930770 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99408253 0.08151187 -0.07180353 1.63100965] [-0.08247526 0.99653726 -0.01055099 0.33518012] [ 0.07069486 0.01641057 0.99736299 -0.07656512] [ 0. 0. 0. 1. ]] SLAMing on 29.71538475 meters Centerline goodness : 0.930111 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99411565 0.08110754 -0.07180273 1.63127194] [-0.0821128 0.9965606 -0.01115617 0.33654087] [ 0.07065092 0.01698644 0.99735646 -0.07678481] [ 0. 0. 0. 1. ]] SLAMing on 29.74538475 meters Centerline goodness : 0.929339 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99421543 0.08006389 -0.07159228 1.63124547] [-0.08112977 0.99663008 -0.01210171 0.33781354] [ 0.07038211 0.01783997 0.99736056 -0.07719446] [ 0. 0. 0. 1. ]] SLAMing on 29.775384749999997 meters Centerline goodness : 0.925755 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99424518 0.07971758 -0.07156557 1.63135605] [-0.08079336 0.99665546 -0.0122607 0.3376168 ] [ 0.07034883 0.01797217 0.99736054 -0.07748863] [ 0. 0. 0. 1. ]] SLAMing on 29.805384749999998 meters Centerline goodness : 0.924817 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99428613 0.07925899 -0.07150591 1.63171226] [-0.08033532 0.99669201 -0.01229954 0.33743471] [ 0.07029452 0.01797371 0.99736434 -0.07820423] [ 0. 0. 0. 1. ]] SLAMing on 29.83538475 meters Centerline goodness : 0.925379 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99425972 0.07940329 -0.07171285 1.63274908] [-0.08051325 0.99667241 -0.01271748 0.3389532 ] [ 0.07046441 0.01841831 0.99734424 -0.07884246] [ 0. 0. 0. 1. ]] SLAMing on 29.865384749999997 meters Centerline goodness : 0.929711 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99421159 0.07972723 -0.07201998 1.63363269] [-0.08084812 0.99664449 -0.01278028 0.33950208] [ 0.07075938 0.01852898 0.99732131 -0.07912333] [ 0. 0. 0. 1. ]] SLAMing on 29.895384749999998 meters Centerline goodness : 0.924490 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99415299 0.08019257 -0.07231178 1.63451346] [-0.08133012 0.99660345 -0.01292167 0.34020377] [ 0.07102995 0.01872724 0.99729837 -0.0793381 ] [ 0. 0. 0. 1. ]] SLAMing on 29.92538475 meters Centerline goodness : 0.926634 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99374032 0.08533252 -0.07210095 1.63481227] [-0.08620947 0.99623516 -0.00913405 0.34158137] [ 0.07105007 0.01529265 0.99735551 -0.07900562] [ 0. 0. 0. 1. ]] SLAMing on 29.955384749999997 meters Centerline goodness : 0.928003 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 0.99336475 0.08986526 -0.07176846 1.63483011] [-0.09042902 0.9958921 -0.00463844 0.34062335] [ 0.07105681 0.01109762 0.99741053 -0.07902979] [ 0. 0. 0. 1. ]] SLAMing on 29.985384749999998 meters Centerline goodness : 0.926485 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:-0.08 [[ 0.99312676 0.09209964 -0.07222801 1.63576547] [-0.09259657 0.99569736 -0.00355487 0.33956902] [ 0.07158984 0.01021851 0.99738181 -0.07885986] [ 0. 0. 0. 1. ]] SLAMing on 30.01538475 meters Centerline goodness : 0.926125 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:-0.08 [[ 0.99305822 0.09270084 -0.0724012 1.63596862] [-0.0931787 0.99564412 -0.00324332 0.33919096] [ 0.07178517 0.00996706 0.99737032 -0.07867153] [ 0. 0. 0. 1. ]] SLAMing on 30.045384749999997 meters Centerline goodness : 0.930301 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:-0.08 [[ 0.99291115 0.09442209 -0.07219361 1.63505406] [-0.0947977 0.99549495 -0.00178652 0.33712188] [ 0.07169968 0.00861764 0.99738904 -0.07796121] [ 0. 0. 0. 1. ]] SLAMing on 30.075384749999998 meters Centerline goodness : 0.929549 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:-0.08 [[ 9.92846011e-01 9.51228859e-02 -7.21694878e-02 1.63462339e+00] [-9.54409491e-02 9.95434627e-01 -9.63719706e-04 3.35494357e-01] [ 7.17483354e-02 7.84474968e-03 9.97391917e-01 -7.75950427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.10538475 meters Centerline goodness : 0.932742 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 9.92718835e-01 9.66258197e-02 -7.19219431e-02 1.63387554e+00] [-9.67929514e-02 9.95303856e-01 1.16605524e-03 3.31568548e-01] [ 7.16968583e-02 5.80397214e-03 9.97409582e-01 -7.74881910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135384749999997 meters Centerline goodness : 0.934059 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99294302 0.09405732 -0.07223141 1.63381116] [-0.0944498 0.99552756 -0.00202976 0.33164747] [ 0.07171744 0.00883768 0.99738584 -0.07734041] [ 0. 0. 0. 1. ]] SLAMing on 30.165384749999998 meters Centerline goodness : 0.933083 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:-0.08 [[ 0.99312386 0.09182491 -0.07261671 1.63374189] [-0.09231154 0.99572448 -0.00336664 0.32625326] [ 0.07199709 0.01004685 0.99735424 -0.07765886] [ 0. 0. 0. 1. ]] SLAMing on 30.19538475 meters Centerline goodness : 0.931974 Centerline is valid? [False, False] Translation: X:1.64, Y:0.32, Z:-0.08 [[ 0.99321289 0.09046427 -0.07310517 1.63557841] [-0.09095879 0.99584866 -0.00345694 0.32219127] [ 0.07248895 0.01008303 0.99731825 -0.07949447] [ 0. 0. 0. 1. ]] SLAMing on 30.225384749999996 meters Centerline goodness : 0.928883 Centerline is valid? [False, False] Translation: X:1.64, Y:0.32, Z:-0.08 [[ 0.9933906 0.08839741 -0.07321889 1.63630328] [-0.08889028 0.9960353 -0.00349397 0.31536707] [ 0.07261974 0.00997933 0.99730977 -0.08157069] [ 0. 0. 0. 1. ]] SLAMing on 30.255384749999997 meters Centerline goodness : 0.924964 Centerline is valid? [False, False] Translation: X:1.64, Y:0.31, Z:-0.08 [[ 0.99361226 0.08517919 -0.07402147 1.63736255] [-0.08587291 0.99628659 -0.00623452 0.3132054 ] [ 0.07321554 0.01255114 0.99723716 -0.08209257] [ 0. 0. 0. 1. ]] SLAMing on 30.28538475 meters Centerline goodness : 0.921395 Centerline is valid? [False, False] Translation: X:1.64, Y:0.31, Z:-0.08 [[ 0.99376565 0.08303406 -0.07439875 1.63787778] [-0.08373392 0.99646803 -0.00633219 0.30637585] [ 0.07361019 0.01252241 0.99720847 -0.08336212] [ 0. 0. 0. 1. ]] SLAMing on 30.315384749999996 meters Centerline goodness : 0.925079 Centerline is valid? [False, False] Translation: X:1.64, Y:0.30, Z:-0.08 [[ 0.99376701 0.08330527 -0.07407679 1.63691711] [-0.08385256 0.99646888 -0.00430352 0.3017343 ] [ 0.07345671 0.01048823 0.99724325 -0.08355244] [ 0. 0. 0. 1. ]] SLAMing on 30.345384749999997 meters Centerline goodness : 0.921444 Centerline is valid? [False, False] Translation: X:1.64, Y:0.30, Z:-0.08 [[ 0.99403367 0.07965138 -0.07451658 1.63674687] [-0.08041567 0.99673462 -0.00730829 0.29985866] [ 0.07369114 0.01325698 0.99719299 -0.08332424] [ 0. 0. 0. 1. ]] SLAMing on 30.37538475 meters Centerline goodness : 0.925784 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:-0.08 [[ 0.99438579 0.07597152 -0.07365617 1.63328456] [-0.07680375 0.99700975 -0.00852901 0.29435319] [ 0.07278796 0.01413819 0.99724722 -0.08236356] [ 0. 0. 0. 1. ]] SLAMing on 30.40538475 meters Centerline goodness : 0.929275 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:-0.08 [[ 0.9946704 0.07238549 -0.07342429 1.63161299] [-0.07329587 0.99726231 -0.00977748 0.28877048] [ 0.07251553 0.01510707 0.99725286 -0.08225103] [ 0. 0. 0. 1. ]] SLAMing on 30.435384749999997 meters Centerline goodness : 0.928763 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:-0.08 [[ 0.99488207 0.06885915 -0.07394646 1.63181726] [-0.06999041 0.99746535 -0.01281458 0.2871289 ] [ 0.07287663 0.01792454 0.99717988 -0.08221228] [ 0. 0. 0. 1. ]] SLAMing on 30.46538475 meters Centerline goodness : 0.929116 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-0.08 [[ 0.99491142 0.06895468 -0.07346094 1.63103776] [-0.06996605 0.99748558 -0.01128116 0.28418098] [ 0.07249834 0.01636352 0.99723429 -0.08284902] [ 0. 0. 0. 1. ]] SLAMing on 30.49538475 meters Centerline goodness : 0.927602 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-0.08 [[ 0.99497439 0.06878371 -0.0727652 1.63017129] [-0.06964556 0.99752778 -0.00937101 0.28066603] [ 0.07194073 0.01439168 0.99730507 -0.08404152] [ 0. 0. 0. 1. ]] SLAMing on 30.525384749999997 meters Centerline goodness : 0.927175 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-0.08 [[ 0.99496137 0.06892373 -0.07281067 1.6304768 ] [-0.06973712 0.99752759 -0.00868571 0.27927981] [ 0.072032 0.01371956 0.99730796 -0.08450603] [ 0. 0. 0. 1. ]] SLAMing on 30.555384749999998 meters Centerline goodness : 0.927116 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-0.08 [[ 0.99481277 0.07025724 -0.07356275 1.63183271] [-0.07097701 0.99745187 -0.00721319 0.27627745] [ 0.07286853 0.01239704 0.9972645 -0.08470472] [ 0. 0. 0. 1. ]] SLAMing on 30.58538475 meters Centerline goodness : 0.925846 Centerline is valid? [False, False] Translation: X:1.63, Y:0.27, Z:-0.09 [[ 0.99474776 0.07094689 -0.07377961 1.63261639] [-0.07160258 0.99741349 -0.00627716 0.27469211] [ 0.07314343 0.011527 0.99725482 -0.08532981] [ 0. 0. 0. 1. ]] SLAMing on 30.615384749999997 meters Centerline goodness : 0.922461 Centerline is valid? [False, False] Translation: X:1.63, Y:0.27, Z:-0.09 [[ 0.9946673 0.07185589 -0.07398435 1.63357122] [-0.07236178 0.99736971 -0.00417662 0.27034985] [ 0.07348964 0.00950798 0.99725066 -0.08658882] [ 0. 0. 0. 1. ]] SLAMing on 30.645384749999998 meters Centerline goodness : 0.920631 Centerline is valid? [False, False] Translation: X:1.63, Y:0.27, Z:-0.09 [[ 0.99462855 0.07216954 -0.07419975 1.63412325] [-0.07259631 0.99735669 -0.00306733 0.26794834] [ 0.07378225 0.00843748 0.99723868 -0.08715369] [ 0. 0. 0. 1. ]] SLAMing on 30.67538475 meters Centerline goodness : 0.919702 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 9.94631797e-01 7.25068363e-02 -7.38264728e-02 1.63320251e+00] [-7.27324849e-02 9.97351417e-01 -3.69057350e-04 2.62733246e-01] [ 7.36041781e-02 5.73665899e-03 9.97271034e-01 -8.76973088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705384749999997 meters Centerline goodness : 0.917941 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 9.94873372e-01 6.90863878e-02 -7.38514989e-02 1.63235307e+00] [-6.93788376e-02 9.97589405e-01 -1.39888447e-03 2.56918467e-01] [ 7.35768290e-02 6.51544406e-03 9.97268268e-01 -8.80841195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735384749999998 meters Centerline goodness : 0.918170 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 9.94964854e-01 6.77515241e-02 -7.38557386e-02 1.63302458e+00] [-6.79735372e-02 9.97687002e-01 -4.93739677e-04 2.53025757e-01] [ 7.36514588e-02 5.51148942e-03 9.97268813e-01 -8.96498644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.76538475 meters Centerline goodness : 0.915819 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 9.95014559e-01 6.75568377e-02 -7.33628050e-02 1.63227716e+00] [-6.76551465e-02 9.97708106e-01 1.14702416e-03 2.49951081e-01] [ 7.32721546e-02 3.82206558e-03 9.97304659e-01 -9.04729306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795384749999997 meters Centerline goodness : 0.915862 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 0.99526778 0.06356393 -0.07349613 1.63225703] [-0.06386323 0.99795717 -0.00172708 0.2484007 ] [ 0.07323621 0.00641261 0.99729401 -0.09107353] [ 0. 0. 0. 1. ]] SLAMing on 30.825384749999998 meters Centerline goodness : 0.917656 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 0.99530008 0.06318469 -0.07338566 1.63175117] [-0.06349135 0.99798067 -0.00185114 0.24821882] [ 0.07312051 0.00650179 0.99730192 -0.09073737] [ 0. 0. 0. 1. ]] SLAMing on 30.85538475 meters Centerline goodness : 0.920379 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 0.99529666 0.0631221 -0.0734858 1.63070261] [-0.06349512 0.99797836 -0.00274873 0.24944038] [ 0.07316373 0.00740179 0.99729248 -0.08890251] [ 0. 0. 0. 1. ]] SLAMing on 30.885384749999997 meters Centerline goodness : 0.919624 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 0.99529862 0.06273243 -0.07379229 1.63100799] [-0.0632004 0.99799275 -0.00402154 0.25111375] [ 0.07339189 0.00866633 0.99726552 -0.08824917] [ 0. 0. 0. 1. ]] SLAMing on 30.915384749999998 meters Centerline goodness : 0.920545 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.09 [[ 0.99527887 0.06282412 -0.07398038 1.63108328] [-0.063431 0.9979689 -0.00588018 0.25469877] [ 0.0734607 0.01054507 0.99724236 -0.08716223] [ 0. 0. 0. 1. ]] SLAMing on 30.94538475 meters Centerline goodness : 0.922994 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99525934 0.06278556 -0.07427531 1.63188327] [-0.06343796 0.99796491 -0.00645485 0.25571668] [ 0.07371889 0.01113613 0.99721688 -0.0872925 ] [ 0. 0. 0. 1. ]] SLAMing on 30.975384749999996 meters Centerline goodness : 0.920174 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99530736 0.06230239 -0.07403835 1.63181969] [-0.06296448 0.99799368 -0.00664003 0.25646564] [ 0.07347611 0.01127066 0.99723329 -0.08777284] [ 0. 0. 0. 1. ]] SLAMing on 31.005384749999997 meters Centerline goodness : 0.921707 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99536289 0.06189907 -0.07362889 1.63129085] [-0.06255 0.99802023 -0.00656572 0.25640677] [ 0.07307671 0.01114076 0.9972641 -0.08810853] [ 0. 0. 0. 1. ]] SLAMing on 31.03538475 meters Centerline goodness : 0.921851 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.9955021 0.06061429 -0.07281121 1.62933315] [-0.06124763 0.99810147 -0.00649533 0.255757 ] [ 0.07227926 0.01092562 0.99732459 -0.08778379] [ 0. 0. 0. 1. ]] SLAMing on 31.065384749999996 meters Centerline goodness : 0.921836 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99554828 0.06017658 -0.07254247 1.62868889] [-0.06079399 0.99813026 -0.00633122 0.25519549] [ 0.07202585 0.01071318 0.99734523 -0.08773726] [ 0. 0. 0. 1. ]] SLAMing on 31.095384749999997 meters Centerline goodness : 0.921736 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99560026 0.05927441 -0.07257175 1.6292996 ] [-0.05991783 0.9981807 -0.00671933 0.25501013] [ 0.07204144 0.01103811 0.99734056 -0.08833064] [ 0. 0. 0. 1. ]] SLAMing on 31.12538475 meters Centerline goodness : 0.921234 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99561462 0.0590524 -0.07255573 1.62937721] [-0.05971424 0.99819107 -0.00698487 0.25559974] [ 0.07201201 0.01128685 0.9973399 -0.08840316] [ 0. 0. 0. 1. ]] SLAMing on 31.15538475 meters Centerline goodness : 0.921234 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99561462 0.0590524 -0.07255573 1.62937721] [-0.05971424 0.99819107 -0.00698487 0.25559974] [ 0.07201201 0.01128685 0.9973399 -0.08840316] [ 0. 0. 0. 1. ]] SLAMing on 31.185384749999997 meters Centerline goodness : 0.921526 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99560871 0.05895067 -0.07271936 1.62943798] [-0.05963642 0.99819352 -0.00729333 0.25625853] [ 0.07215805 0.01159802 0.99732577 -0.08811238] [ 0. 0. 0. 1. ]] SLAMing on 31.21538475 meters Centerline goodness : 0.921875 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99558019 0.05903027 -0.07304454 1.6301055 ] [-0.05975394 0.99818297 -0.00776004 0.25690666] [ 0.07245374 0.01209044 0.99729849 -0.08802865] [ 0. 0. 0. 1. ]] SLAMing on 31.24538475 meters Centerline goodness : 0.919920 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99537546 0.06217648 -0.07322417 1.63157592] [-0.06274544 0.99801445 -0.0054933 0.25913168] [ 0.07273723 0.01006238 0.99730038 -0.08857223] [ 0. 0. 0. 1. ]] SLAMing on 31.275384749999997 meters Centerline goodness : 0.921436 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 0.99524993 0.06418191 -0.0732001 1.63326193] [-0.06458872 0.99790683 -0.00320144 0.26000699] [ 0.07284141 0.00791413 0.99731214 -0.09008739] [ 0. 0. 0. 1. ]] SLAMing on 31.305384749999998 meters Centerline goodness : 0.918340 Centerline is valid? [False, False] Translation: X:1.63, Y:0.26, Z:-0.09 [[ 9.95023210e-01 6.76261683e-02 -7.31813757e-02 1.63446966e+00] [-6.78523383e-02 9.97695190e-01 -6.06009022e-04 2.62101302e-01] [ 7.29717245e-02 5.56852051e-03 9.97318464e-01 -9.06797914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.33538475 meters Centerline goodness : 0.918735 Centerline is valid? [False, False] Translation: X:1.64, Y:0.26, Z:-0.09 [[ 0.99500694 0.06744125 -0.07357218 1.63528188] [-0.0677665 0.99769934 -0.00193077 0.26426131] [ 0.0732727 0.00690686 0.99728803 -0.0904743 ] [ 0. 0. 0. 1. ]] SLAMing on 31.365384749999997 meters Centerline goodness : 0.920282 Centerline is valid? [False, False] Translation: X:1.64, Y:0.27, Z:-0.09 [[ 0.99495269 0.06763702 -0.07412409 1.63664915] [-0.068154 0.99766482 -0.00446456 0.26959276] [ 0.07364903 0.00949388 0.99723903 -0.08993236] [ 0. 0. 0. 1. ]] SLAMing on 31.395384749999998 meters Centerline goodness : 0.919644 Centerline is valid? [False, False] Translation: X:1.64, Y:0.27, Z:-0.09 [[ 0.99492525 0.06774422 -0.07439395 1.63744323] [-0.06835242 0.9976452 -0.00565699 0.27225557] [ 0.07383554 0.01071329 0.99721289 -0.08980467] [ 0. 0. 0. 1. ]] SLAMing on 31.42538475 meters Centerline goodness : 0.918619 Centerline is valid? [False, False] Translation: X:1.64, Y:0.27, Z:-0.09 [[ 0.99471368 0.07052977 -0.07463412 1.63971472] [-0.07099138 0.99747062 -0.00354701 0.27401588] [ 0.07419517 0.00882664 0.99720468 -0.09121063] [ 0. 0. 0. 1. ]] SLAMing on 31.455384749999997 meters Centerline goodness : 0.918734 Centerline is valid? [False, False] Translation: X:1.64, Y:0.27, Z:-0.09 [[ 0.9947096 0.07035952 -0.07484884 1.64040472] [-0.07086114 0.99747791 -0.00406417 0.27496731] [ 0.07437411 0.00934654 0.99718661 -0.09145308] [ 0. 0. 0. 1. ]] SLAMing on 31.485384749999998 meters Centerline goodness : 0.918356 Centerline is valid? [False, False] Translation: X:1.64, Y:0.28, Z:-0.09 [[ 0.9948616 0.06874141 -0.07433047 1.64027351] [-0.06933009 0.99757934 -0.00536579 0.27723156] [ 0.07378169 0.01049156 0.99721923 -0.09236354] [ 0. 0. 0. 1. ]] SLAMing on 31.51538475 meters Centerline goodness : 0.920071 Centerline is valid? [False, False] Translation: X:1.64, Y:0.28, Z:-0.09 [[ 0.99494892 0.06800601 -0.07383644 1.6395757 ] [-0.06860275 0.99762849 -0.00557316 0.27749399] [ 0.07328233 0.0106104 0.99725479 -0.09270927] [ 0. 0. 0. 1. ]] SLAMing on 31.545384749999997 meters Centerline goodness : 0.922236 Centerline is valid? [False, False] Translation: X:1.64, Y:0.28, Z:-0.09 [[ 0.9952665 0.06326623 -0.0737697 1.63839255] [-0.06414097 0.99789518 -0.0095471 0.27715186] [ 0.07301042 0.01423357 0.9972296 -0.09213855] [ 0. 0. 0. 1. ]] SLAMing on 31.575384749999998 meters Centerline goodness : 0.922405 Centerline is valid? [False, False] Translation: X:1.64, Y:0.28, Z:-0.09 [[ 0.99535052 0.06271133 -0.073107 1.63707137] [-0.06351735 0.99794237 -0.00875052 0.27529973] [ 0.07240782 0.0133534 0.99728571 -0.09237151] [ 0. 0. 0. 1. ]] SLAMing on 31.60538475 meters Centerline goodness : 0.924900 Centerline is valid? [False, False] Translation: X:1.63, Y:0.27, Z:-0.09 [[ 9.96168488e-01 5.99677341e-02 -6.36570039e-02 1.63407686e+00] [-6.01693878e-02 9.98187394e-01 -1.25377998e-03 2.73350886e-01] [ 6.34664325e-02 5.07917906e-03 9.97971049e-01 -9.44747054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635384749999997 meters Centerline goodness : 0.926580 Centerline is valid? [False, False] Translation: X:1.63, Y:0.27, Z:-0.09 [[ 0.99620106 0.05954024 -0.06354851 1.63387656] [-0.05977848 0.99820995 -0.00185254 0.27489089] [ 0.06332445 0.00564433 0.99797703 -0.09443524] [ 0. 0. 0. 1. ]] SLAMing on 31.665384749999998 meters Centerline goodness : 0.928111 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-0.09 [[ 0.99617607 0.05991933 -0.06358388 1.63418444] [-0.06024452 0.99817849 -0.0032079 0.27860031] [ 0.06327585 0.00702621 0.99797134 -0.09405137] [ 0. 0. 0. 1. ]] SLAMing on 31.69538475 meters Centerline goodness : 0.928739 Centerline is valid? [False, False] Translation: X:1.64, Y:0.28, Z:-0.09 [[ 0.99613545 0.06000759 -0.06413463 1.63525398] [-0.06041933 0.99816295 -0.00449809 0.28084526] [ 0.06374689 0.00835568 0.99793112 -0.09367702] [ 0. 0. 0. 1. ]] SLAMing on 31.725384749999996 meters Centerline goodness : 0.928162 Centerline is valid? [False, False] Translation: X:1.64, Y:0.29, Z:-0.09 [[ 0.99583412 0.06438523 -0.06456731 1.63673953] [-0.06471882 0.99789877 -0.00308611 0.28557466] [ 0.06423294 0.00725197 0.99790858 -0.09308695] [ 0. 0. 0. 1. ]] SLAMing on 31.755384749999997 meters Centerline goodness : 0.928741 Centerline is valid? [False, False] Translation: X:1.64, Y:0.29, Z:-0.09 [[ 0.99573252 0.06505403 -0.06545773 1.63872717] [-0.06550903 0.9978403 -0.00482658 0.2897621 ] [ 0.06500237 0.00909406 0.99784367 -0.0927669 ] [ 0. 0. 0. 1. ]] SLAMing on 31.78538475 meters Centerline goodness : 0.929053 Centerline is valid? [False, False] Translation: X:1.64, Y:0.29, Z:-0.09 [[ 0.99534162 0.07010884 -0.06618014 1.64117683] [-0.07042238 0.99751434 -0.00241397 0.29324994] [ 0.0658464 0.00706329 0.99780477 -0.09293395] [ 0. 0. 0. 1. ]] SLAMing on 31.815384749999996 meters Centerline goodness : 0.924813 Centerline is valid? [False, False] Translation: X:1.64, Y:0.30, Z:-0.09 [[ 0.9952549 0.07060929 -0.06694786 1.64288804] [-0.0709945 0.99747095 -0.00338934 0.29527162] [ 0.06653922 0.00812619 0.99775072 -0.0929291 ] [ 0. 0. 0. 1. ]] SLAMing on 31.845384749999997 meters Centerline goodness : 0.928015 Centerline is valid? [False, False] Translation: X:1.64, Y:0.30, Z:-0.09 [[ 0.99519412 0.07103676 -0.06739764 1.64411021] [-0.07149302 0.99743149 -0.00437896 0.29756223] [ 0.06691346 0.00917638 0.99771658 -0.093008 ] [ 0. 0. 0. 1. ]] SLAMing on 31.87538475 meters Centerline goodness : 0.930064 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99511668 0.07168165 -0.06785668 1.6450554 ] [-0.0722406 0.99737028 -0.00581634 0.30151633] [ 0.06726131 0.01068994 0.99767813 -0.09237182] [ 0. 0. 0. 1. ]] SLAMing on 31.90538475 meters Centerline goodness : 0.926093 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99507874 0.07195266 -0.06812573 1.64596026] [-0.07249741 0.99735313 -0.00555474 0.30088406] [ 0.06754573 0.01046634 0.99766128 -0.09295976] [ 0. 0. 0. 1. ]] SLAMing on 31.935384749999997 meters Centerline goodness : 0.926721 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99504562 0.07234409 -0.06819491 1.6461641 ] [-0.0728374 0.99733241 -0.00477207 0.29953781] [ 0.06766776 0.00971557 0.9976606 -0.09321276] [ 0. 0. 0. 1. ]] SLAMing on 31.96538475 meters Centerline goodness : 0.925546 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.9950192 0.0724902 -0.0684248 1.64647034] [-0.07297328 0.99732336 -0.0045837 0.29878927] [ 0.06790938 0.00955405 0.99764575 -0.09315932] [ 0. 0. 0. 1. ]] SLAMing on 31.99538475 meters Centerline goodness : 0.923625 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.9949591 0.07288371 -0.06887929 1.64717604] [-0.07336646 0.99729489 -0.00450177 0.29832658] [ 0.06836486 0.00953251 0.99761484 -0.09297665] [ 0. 0. 0. 1. ]] SLAMing on 32.02538475 meters Centerline goodness : 0.924023 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99483046 0.0741834 -0.06934818 1.64867069] [-0.07460956 0.99720643 -0.00357181 0.29763311] [ 0.06888948 0.00872739 0.99758612 -0.09362082] [ 0. 0. 0. 1. ]] SLAMing on 32.05538475 meters Centerline goodness : 0.923853 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99476025 0.0746065 -0.06989926 1.64988574] [-0.07502705 0.99717568 -0.00340688 0.29709219] [ 0.06944767 0.00863337 0.99754824 -0.09390331] [ 0. 0. 0. 1. ]] SLAMing on 32.08538475 meters Centerline goodness : 0.924892 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:-0.09 [[ 0.99472684 0.07482588 -0.0701398 1.65039708] [-0.07524425 0.99715955 -0.00333815 0.29667039] [ 0.06969079 0.00859816 0.99753159 -0.09401123] [ 0. 0. 0. 1. ]] SLAMing on 32.115384750000004 meters Centerline goodness : 0.924973 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:-0.09 [[ 0.99471609 0.07504976 -0.07005309 1.64949374] [-0.0754005 0.99715051 -0.00237222 0.29409838] [ 0.06967544 0.00764172 0.99754044 -0.09336477] [ 0. 0. 0. 1. ]] SLAMing on 32.14538475 meters Centerline goodness : 0.925267 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:-0.09 [[ 0.99493228 0.07139512 -0.07079901 1.65014919] [-0.07204005 0.99737994 -0.00659499 0.29464939] [ 0.07014266 0.01166193 0.9974688 -0.09300768] [ 0. 0. 0. 1. ]] SLAMing on 32.17538475 meters Centerline goodness : 0.924495 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:-0.09 [[ 0.99496932 0.0711959 -0.07047833 1.64942495] [-0.07173166 0.99741094 -0.00509701 0.29107876] [ 0.06993298 0.0101269 0.99750029 -0.09344705] [ 0. 0. 0. 1. ]] SLAMing on 32.20538475 meters Centerline goodness : 0.922790 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:-0.09 [[ 0.99518899 0.06774258 -0.07078012 1.64903099] [-0.06845788 0.99762409 -0.00772668 0.28813647] [ 0.07008852 0.01253496 0.99746202 -0.09320901] [ 0. 0. 0. 1. ]] SLAMing on 32.23538475 meters Centerline goodness : 0.923694 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:-0.09 [[ 0.99520278 0.06766695 -0.07065834 1.6488462 ] [-0.06829058 0.99764465 -0.00644513 0.28509678] [ 0.07005579 0.01123951 0.99747975 -0.09374834] [ 0. 0. 0. 1. ]] SLAMing on 32.26538475 meters Centerline goodness : 0.923198 Centerline is valid? [False, False] Translation: X:1.65, Y:0.28, Z:-0.09 [[ 0.99518721 0.06784913 -0.07070302 1.64897454] [-0.06839041 0.99764477 -0.0052605 0.28232947] [ 0.07017958 0.01007059 0.99748354 -0.09424351] [ 0. 0. 0. 1. ]] SLAMing on 32.295384750000004 meters Centerline goodness : 0.919768 Centerline is valid? [False, False] Translation: X:1.65, Y:0.27, Z:-0.10 [[ 0.99506533 0.06885961 -0.07143771 1.65121729] [-0.06918477 0.99760169 -0.00208434 0.27497944] [ 0.07112285 0.00701645 0.99744289 -0.09637197] [ 0. 0. 0. 1. ]] SLAMing on 32.325384750000005 meters Centerline goodness : 0.920955 Centerline is valid? [False, False] Translation: X:1.65, Y:0.27, Z:-0.10 [[ 9.94992266e-01 6.97059131e-02 -7.16343285e-02 1.65161967e+00] [-6.99033144e-02 9.97553740e-01 -2.49362096e-04 2.71224083e-01] [ 7.14417103e-02 5.25559035e-03 9.97430930e-01 -9.69328048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35538475 meters Centerline goodness : 0.920943 Centerline is valid? [False, False] Translation: X:1.65, Y:0.27, Z:-0.10 [[ 9.94957739e-01 6.89961438e-02 -7.27916910e-02 1.65380501e+00] [-6.91985398e-02 9.97602874e-01 -2.59251765e-04 2.65861183e-01] [ 7.25993128e-02 5.29502328e-03 9.97347132e-01 -9.78468652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38538475 meters Centerline goodness : 0.920873 Centerline is valid? [False, False] Translation: X:1.65, Y:0.26, Z:-0.10 [[ 9.94928674e-01 6.93316071e-02 -7.28701668e-02 1.65366834e+00] [-6.94726704e-02 9.97583675e-01 6.00073824e-04 2.63992298e-01] [ 7.27356929e-02 4.46545443e-03 9.97341255e-01 -9.77477389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41538475 meters Centerline goodness : 0.918424 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.10 [[ 0.99498626 0.06728733 -0.07399154 1.6551907 ] [-0.06759513 0.99771145 -0.00166085 0.26166365] [ 0.07371045 0.00665399 0.99725749 -0.09776247] [ 0. 0. 0. 1. ]] SLAMing on 32.44538475 meters Centerline goodness : 0.918259 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.10 [[ 9.94923692e-01 6.78658647e-02 -7.43039120e-02 1.65607891e+00] [-6.80557740e-02 9.97681518e-01 -2.39964874e-05 2.58250352e-01] [ 7.41300112e-02 5.08068491e-03 9.97235643e-01 -9.86348414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47538475 meters Centerline goodness : 0.916415 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.10 [[ 9.94947374e-01 6.61947446e-02 -7.54849559e-02 1.65719258e+00] [-6.64138481e-02 9.97792086e-01 -3.93343634e-04 2.51094210e-01] [ 7.52922543e-02 5.40460261e-03 9.97146863e-01 -9.86937313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505384750000005 meters Centerline goodness : 0.916268 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.10 [[ 0.99507776 0.06326061 -0.07627808 1.65789198] [-0.06365889 0.99796779 -0.00279899 0.24806594] [ 0.075946 0.007641 0.99708265 -0.09866009] [ 0. 0. 0. 1. ]] SLAMing on 32.53538475 meters Centerline goodness : 0.916921 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.10 [[ 0.99537178 0.05923007 -0.07567573 1.65592686] [-0.05964425 0.99821449 -0.00322276 0.24147381] [ 0.07534972 0.00772147 0.99712727 -0.09918992] [ 0. 0. 0. 1. ]] SLAMing on 32.56538475 meters Centerline goodness : 0.915555 Centerline is valid? [False, False] Translation: X:1.65, Y:0.24, Z:-0.10 [[ 9.95560255e-01 5.79698202e-02 -7.41571148e-02 1.65352517e+00] [-5.81600759e-02 9.98307187e-01 -4.06864054e-04 2.36880500e-01] [ 7.40079949e-02 4.71804111e-03 9.97246487e-01 -1.00613480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59538475 meters Centerline goodness : 0.916910 Centerline is valid? [False, False] Translation: X:1.65, Y:0.23, Z:-0.10 [[ 9.95556280e-01 5.78911323e-02 -7.42718601e-02 1.65360691e+00] [-5.80340179e-02 9.98314579e-01 2.34682929e-04 2.34508075e-01] [ 7.41602667e-02 4.07665439e-03 9.97238004e-01 -1.00497037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62538475 meters Centerline goodness : 0.915564 Centerline is valid? [False, False] Translation: X:1.65, Y:0.23, Z:-0.10 [[ 0.99572766 0.05445474 -0.07457285 1.65342712] [-0.05483664 0.99849058 -0.00308168 0.23365833] [ 0.07429248 0.00715784 0.99721081 -0.10020717] [ 0. 0. 0. 1. ]] SLAMing on 32.65538475 meters Centerline goodness : 0.916991 Centerline is valid? [False, False] Translation: X:1.65, Y:0.23, Z:-0.10 [[ 0.99587826 0.05147011 -0.07468148 1.65225089] [-0.05201635 0.99863171 -0.00538643 0.23001498] [ 0.07430206 0.00924889 0.99719289 -0.09918433] [ 0. 0. 0. 1. ]] SLAMing on 32.685384750000004 meters Centerline goodness : 0.916519 Centerline is valid? [False, False] Translation: X:1.65, Y:0.23, Z:-0.10 [[ 0.99587605 0.05149221 -0.07469568 1.65202506] [-0.05199896 0.99863534 -0.00485413 0.22792228] [ 0.07434379 0.00871821 0.99719456 -0.09891804] [ 0. 0. 0. 1. ]] SLAMing on 32.71538475 meters Centerline goodness : 0.917923 Centerline is valid? [False, False] Translation: X:1.65, Y:0.23, Z:-0.10 [[ 0.9958856 0.05151019 -0.07455588 1.65153792] [-0.05194722 0.99864209 -0.0039332 0.2252796 ] [ 0.07425204 0.00778999 0.99720908 -0.09858709] [ 0. 0. 0. 1. ]] SLAMing on 32.74538475 meters Centerline goodness : 0.920721 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.10 [[ 0.9958983 0.0512696 -0.07455209 1.65184841] [-0.05170005 0.99865522 -0.00385422 0.22471366] [ 0.07425423 0.00769276 0.99720967 -0.09893174] [ 0. 0. 0. 1. ]] SLAMing on 32.77538475 meters Centerline goodness : 0.918378 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.10 [[ 0.99591715 0.05086556 -0.07457703 1.65269483] [-0.05126307 0.99867931 -0.00342443 0.22238359] [ 0.07430435 0.00723349 0.99720938 -0.09985009] [ 0. 0. 0. 1. ]] SLAMing on 32.80538475 meters Centerline goodness : 0.920573 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.10 [[ 0.99608892 0.04709435 -0.07475952 1.65296027] [-0.04770509 0.99884094 -0.00640389 0.21992596] [ 0.07437128 0.00994525 0.99718103 -0.10027664] [ 0. 0. 0. 1. ]] SLAMing on 32.83538475 meters Centerline goodness : 0.919037 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.10 [[ 0.9960987 0.04643412 -0.07504165 1.65427268] [-0.04704915 0.99887176 -0.00644803 0.21810859] [ 0.07465757 0.00995352 0.99715955 -0.10119175] [ 0. 0. 0. 1. ]] SLAMing on 32.865384750000004 meters Centerline goodness : 0.918506 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.10 [[ 0.99611176 0.04633605 -0.07492884 1.65449045] [-0.04693066 0.99887895 -0.00619354 0.21678012] [ 0.07455786 0.00968592 0.99716965 -0.10169106] [ 0. 0. 0. 1. ]] SLAMing on 32.89538475 meters Centerline goodness : 0.920549 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.10 [[ 0.99612834 0.04583505 -0.07501648 1.65546218] [-0.04645388 0.99889913 -0.00652444 0.21684026] [ 0.07463485 0.00998399 0.99716095 -0.10258623] [ 0. 0. 0. 1. ]] SLAMing on 32.92538475 meters Centerline goodness : 0.921455 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.10 [[ 0.99613039 0.04551975 -0.07518112 1.65600653] [-0.04618073 0.99890804 -0.00707606 0.2183935 ] [ 0.07477692 0.0105206 0.99714479 -0.10280347] [ 0. 0. 0. 1. ]] SLAMing on 32.95538475 meters Centerline goodness : 0.922966 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.10 [[ 0.99601195 0.0483778 -0.07496526 1.65600472] [-0.04889115 0.99879146 -0.00502675 0.22272331] [ 0.07463148 0.00867184 0.99717348 -0.10262457] [ 0. 0. 0. 1. ]] SLAMing on 32.98538475 meters Centerline goodness : 0.924872 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.10 [[ 0.99585958 0.0513144 -0.07503685 1.65657832] [-0.05169445 0.99865804 -0.00313004 0.22741212] [ 0.07477554 0.00699607 0.99717585 -0.10247746] [ 0. 0. 0. 1. ]] SLAMing on 33.01538475 meters Centerline goodness : 0.925526 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.10 [[ 0.99585136 0.05100391 -0.07535692 1.65735472] [-0.05146423 0.9986661 -0.00417799 0.23036854] [ 0.0750433 0.00803884 0.99714787 -0.10265418] [ 0. 0. 0. 1. ]] SLAMing on 33.045384750000004 meters Centerline goodness : 0.928021 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.10 [[ 0.99571659 0.05351519 -0.0753963 1.65815094] [-0.05390499 0.99854112 -0.00314308 0.23680905] [ 0.07511811 0.00719385 0.99714869 -0.10280307] [ 0. 0. 0. 1. ]] SLAMing on 33.075384750000005 meters Centerline goodness : 0.928321 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.10 [[ 9.95573557e-01 5.65059938e-02 -7.51023604e-02 1.65837014e+00] [-5.67456319e-02 9.98388107e-01 -1.05906760e-03 2.39952663e-01] [ 7.49214598e-02 5.31611060e-03 9.97175267e-01 -1.02852736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10538475 meters Centerline goodness : 0.928321 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.10 [[ 9.95573557e-01 5.65059938e-02 -7.51023604e-02 1.65837014e+00] [-5.67456319e-02 9.98388107e-01 -1.05906760e-03 2.39952663e-01] [ 7.49214598e-02 5.31611060e-03 9.97175267e-01 -1.02852736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13538475 meters Centerline goodness : 0.929292 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.10 [[ 9.95383296e-01 5.94830754e-02 -7.53250161e-02 1.66063378e+00] [-5.97066129e-02 9.98215711e-01 -7.17222503e-04 2.46943756e-01] [ 7.51479519e-02 5.21131288e-03 9.97158778e-01 -1.03626584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16538475 meters Centerline goodness : 0.929080 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.10 [[ 0.99536014 0.05956033 -0.07556951 1.66216135] [-0.0598849 0.99820322 -0.00203421 0.25080897] [ 0.07531257 0.00655025 0.99713846 -0.10429871] [ 0. 0. 0. 1. ]] SLAMing on 33.19538475 meters Centerline goodness : 0.928351 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.10 [[ 0.99535706 0.05932828 -0.07579228 1.6633273 ] [-0.0597627 0.99820656 -0.0034746 0.25435212] [ 0.07545021 0.00798802 0.99711757 -0.1047346 ] [ 0. 0. 0. 1. ]] SLAMing on 33.22538475 meters Centerline goodness : 0.931279 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.11 [[ 0.99542371 0.0581018 -0.07586715 1.66457383] [-0.05873373 0.99825491 -0.00612307 0.25946658] [ 0.07537899 0.01055101 0.99709913 -0.10545594] [ 0. 0. 0. 1. ]] SLAMing on 33.255384750000005 meters Centerline goodness : 0.931277 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.11 [[ 0.99555584 0.05640338 -0.07541373 1.66423125] [-0.05720739 0.99832577 -0.00854223 0.26433015] [ 0.07480566 0.01281849 0.99711574 -0.10558761] [ 0. 0. 0. 1. ]] SLAMing on 33.28538475 meters Centerline goodness : 0.931338 Centerline is valid? [False, False] Translation: X:1.66, Y:0.27, Z:-0.11 [[ 0.99562777 0.05544765 -0.07517252 1.66419312] [-0.05634091 0.99836336 -0.00981298 0.26731154] [ 0.07450539 0.01400537 0.99712226 -0.10582301] [ 0. 0. 0. 1. ]] SLAMing on 33.31538475 meters Centerline goodness : 0.936488 Centerline is valid? [False, False] Translation: X:1.66, Y:0.27, Z:-0.11 [[ 9.96425574e-01 5.49671618e-02 -6.41458303e-02 1.66319811e+00] [-5.51854776e-02 9.98474781e-01 -1.63527921e-03 2.70481206e-01] [ 6.39581072e-02 5.16935231e-03 9.97939196e-01 -1.09471433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34538475 meters Centerline goodness : 0.938929 Centerline is valid? [False, False] Translation: X:1.66, Y:0.27, Z:-0.11 [[ 0.99644607 0.05427713 -0.06441452 1.66348276] [-0.05462774 0.99849996 -0.00369308 0.27384497] [ 0.06411744 0.00719878 0.99791639 -0.10871256] [ 0. 0. 0. 1. ]] SLAMing on 33.37538475 meters Centerline goodness : 0.939517 Centerline is valid? [False, False] Translation: X:1.66, Y:0.28, Z:-0.11 [[ 0.99621643 0.05787784 -0.06483037 1.66471079] [-0.05819519 0.99830067 -0.0030159 0.27988055] [ 0.06454564 0.0067773 0.99789174 -0.10780447] [ 0. 0. 0. 1. ]] SLAMing on 33.40538475 meters Centerline goodness : 0.937718 Centerline is valid? [False, False] Translation: X:1.67, Y:0.28, Z:-0.11 [[ 9.95933028e-01 6.20278696e-02 -6.53448327e-02 1.66651718e+00] [-6.22186678e-02 9.98062148e-01 -8.86947236e-04 2.83540444e-01] [ 6.51631886e-02 4.94900848e-03 9.97862348e-01 -1.07702116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435384750000004 meters Centerline goodness : 0.935536 Centerline is valid? [False, False] Translation: X:1.67, Y:0.29, Z:-0.11 [[ 9.94884099e-01 7.20801675e-02 -7.07819092e-02 1.67492627e+00] [-7.22386969e-02 9.97387321e-01 3.20905389e-04 2.92972541e-01] [ 7.06201097e-02 4.79392922e-03 9.97491764e-01 -1.08596179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46538475 meters Centerline goodness : 0.933752 Centerline is valid? [False, False] Translation: X:1.68, Y:0.30, Z:-0.11 [[ 0.99444105 0.07720751 -0.07159611 1.67756642] [-0.07719682 0.9970116 0.00292041 0.29631636] [ 0.07160763 0.00262282 0.99742943 -0.10863873] [ 0. 0. 0. 1. ]] SLAMing on 33.49538475 meters Centerline goodness : 0.933167 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.11 [[ 0.99288583 0.08913076 -0.07895216 1.68968765] [-0.08924317 0.99600763 0.00211063 0.30315787] [ 0.07882508 0.00495033 0.99687617 -0.10681207] [ 0. 0. 0. 1. ]] SLAMing on 33.52538475 meters Centerline goodness : 0.931296 Centerline is valid? [False, False] Translation: X:1.69, Y:0.31, Z:-0.11 [[ 0.99245251 0.09360037 -0.07922746 1.69137945] [-0.09347797 0.99560745 0.00526061 0.30512201] [ 0.07937185 0.00218511 0.99684268 -0.10709897] [ 0. 0. 0. 1. ]] SLAMing on 33.55538475 meters Centerline goodness : 0.930147 Centerline is valid? [False, False] Translation: X:1.69, Y:0.31, Z:-0.11 [[ 9.91903710e-01 9.88932594e-02 -7.96690250e-02 1.69280522e+00] [-9.84690197e-02 9.95097163e-01 9.24595212e-03 3.05300630e-01] [ 8.01927831e-02 -1.32616342e-03 9.96778490e-01 -1.06680084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58538475 meters Centerline goodness : 0.928887 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.11 [[ 0.9918181 0.09942786 -0.08006841 1.69363353] [-0.09895034 0.99504293 0.00991974 0.30383036] [ 0.0806578 -0.00191578 0.99674001 -0.10687018] [ 0. 0. 0. 1. ]] SLAMing on 33.615384750000004 meters Centerline goodness : 0.931743 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.11 [[ 9.91992973e-01 9.69611042e-02 -8.09227099e-02 1.69425757e+00] [-9.67657413e-02 9.95286981e-01 6.34172097e-03 3.03994067e-01] [ 8.11562198e-02 1.53960337e-03 9.96700204e-01 -1.06302145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64538475 meters Centerline goodness : 0.932117 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.11 [[ 9.91966111e-01 9.71499197e-02 -8.10254752e-02 1.69436283e+00] [-9.69286729e-02 9.95268988e-01 6.66881160e-03 3.03219450e-01] [ 8.12900173e-02 1.23845668e-03 9.96689721e-01 -1.06282988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67538475 meters Centerline goodness : 0.934495 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.10 [[ 0.99222601 0.09435792 -0.08114262 1.69237244] [-0.09429599 0.99553356 0.0046035 0.29988198] [ 0.08121457 0.00308371 0.99669187 -0.10474374] [ 0. 0. 0. 1. ]] SLAMing on 33.70538475 meters Centerline goodness : 0.936463 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.10 [[ 0.99278315 0.08724697 -0.08227746 1.69247514] [-0.08777747 0.99613604 -0.0028458 0.29945481] [ 0.08171126 0.01004737 0.9966054 -0.10389399] [ 0. 0. 0. 1. ]] SLAMing on 33.73538475 meters Centerline goodness : 0.931461 Centerline is valid? [False, False] Translation: X:1.69, Y:0.30, Z:-0.10 [[ 0.99309067 0.08343836 -0.08251648 1.69193503] [-0.08415484 0.99643893 -0.00523717 0.2960084 ] [ 0.08178565 0.01214515 0.99657594 -0.10393599] [ 0. 0. 0. 1. ]] SLAMing on 33.76538475 meters Centerline goodness : 0.933267 Centerline is valid? [False, False] Translation: X:1.69, Y:0.29, Z:-0.10 [[ 0.99378537 0.07471025 -0.0825168 1.6900784 ] [-0.07577381 0.99707659 -0.00982905 0.28846253] [ 0.08154124 0.01602058 0.9965412 -0.10408968] [ 0. 0. 0. 1. ]] SLAMing on 33.795384750000004 meters Centerline goodness : 0.945196 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99439875 0.06644285 -0.0821978 1.68777672] [-0.06781984 0.99759834 -0.01407203 0.2810502 ] [ 0.0810654 0.01956785 0.99651668 -0.10427356] [ 0. 0. 0. 1. ]] SLAMing on 33.825384750000005 meters Centerline goodness : 0.933995 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99449149 0.06610978 -0.08133987 1.68559246] [-0.06732159 0.9976562 -0.0122439 0.27714419] [ 0.08033978 0.01765238 0.99661121 -0.10417907] [ 0. 0. 0. 1. ]] SLAMing on 33.85538475 meters Centerline goodness : 0.940947 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.10 [[ 0.994687 0.06356934 -0.08097351 1.68211955] [-0.06488242 0.99779905 -0.01368678 0.27321667] [ 0.07992523 0.01886782 0.99662228 -0.10164573] [ 0. 0. 0. 1. ]] SLAMing on 33.88538475 meters Centerline goodness : 0.947021 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.10 [[ 0.99460388 0.06462613 -0.0811578 1.68135154] [-0.06583662 0.99775428 -0.0123262 0.27040354] [ 0.08017895 0.01760284 0.99662504 -0.10053783] [ 0. 0. 0. 1. ]] SLAMing on 33.91538475 meters Centerline goodness : 0.946161 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.10 [[ 0.99434143 0.0674304 -0.08208692 1.68234424] [-0.06841123 0.99761486 -0.00919208 0.26464585] [ 0.08127131 0.01475573 0.99658278 -0.10014471] [ 0. 0. 0. 1. ]] SLAMing on 33.94538475 meters Centerline goodness : 0.943154 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.10 [[ 0.99420812 0.0687627 -0.08259484 1.68317067] [-0.06960354 0.99754772 -0.00734096 0.26116179] [ 0.08188751 0.01304734 0.99655617 -0.10034885] [ 0. 0. 0. 1. ]] SLAMing on 33.97538475 meters Centerline goodness : 0.932214 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.10 [[ 0.99423107 0.0670113 -0.08374998 1.68351362] [-0.06793506 0.99765583 -0.00822602 0.25488953] [ 0.08300242 0.01386812 0.99645285 -0.09940041] [ 0. 0. 0. 1. ]] SLAMing on 34.005384750000005 meters Centerline goodness : 0.929508 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.10 [[ 0.99425588 0.06719675 -0.08330568 1.68193033] [-0.06792723 0.99767246 -0.0059624 0.25007629] [ 0.08271113 0.01158688 0.9965062 -0.09922656] [ 0. 0. 0. 1. ]] SLAMing on 34.03538475 meters Centerline goodness : 0.931413 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.10 [[ 0.99449405 0.06374811 -0.08317312 1.68063021] [-0.06448486 0.99789943 -0.00619918 0.2431941 ] [ 0.08260322 0.01152846 0.99651583 -0.09958783] [ 0. 0. 0. 1. ]] SLAMing on 34.06538475 meters Centerline goodness : 0.939425 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.10 [[ 0.99453921 0.06371611 -0.08265596 1.67969302] [-0.06426574 0.99792479 -0.00400353 0.23898678] [ 0.08222934 0.00929362 0.9965701 -0.10038669] [ 0. 0. 0. 1. ]] SLAMing on 34.09538475 meters Centerline goodness : 0.932676 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.10 [[ 0.99469539 0.06070181 -0.0830444 1.67954028] [-0.06123695 0.9981156 -0.00390975 0.23080173] [ 0.08265059 0.0089744 0.99653818 -0.10114997] [ 0. 0. 0. 1. ]] SLAMing on 34.12538475 meters Centerline goodness : 0.934196 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.10 [[ 0.99489971 0.05706668 -0.08317427 1.67892499] [-0.05783341 0.99830284 -0.00683648 0.22835127] [ 0.08264297 0.01161186 0.99651157 -0.10081822] [ 0. 0. 0. 1. ]] SLAMing on 34.15538475 meters Centerline goodness : 0.935718 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.10 [[ 0.99510136 0.05360211 -0.08306684 1.67721261] [-0.05452832 0.99847238 -0.00892024 0.2240345 ] [ 0.0824618 0.01340604 0.99650405 -0.099578 ] [ 0. 0. 0. 1. ]] SLAMing on 34.185384750000004 meters Centerline goodness : 0.934384 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.10 [[ 0.99507287 0.05398443 -0.08316045 1.6770806 ] [-0.0548372 0.99846323 -0.00800314 0.22159438] [ 0.08260061 0.01252399 0.99650403 -0.09927335] [ 0. 0. 0. 1. ]] SLAMing on 34.21538475 meters Centerline goodness : 0.934309 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.10 [[ 0.9950007 0.05494688 -0.08339329 1.67763878] [-0.05571726 0.99842249 -0.00693719 0.21921545] [ 0.08288056 0.01154895 0.99649257 -0.09945431] [ 0. 0. 0. 1. ]] SLAMing on 34.24538475 meters Centerline goodness : 0.934193 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.10 [[ 0.99492995 0.05644671 -0.08323554 1.67703302] [-0.05715806 0.99834597 -0.00618638 0.21984954] [ 0.08274866 0.01091259 0.9965107 -0.0990951 ] [ 0. 0. 0. 1. ]] SLAMing on 34.27538475 meters Centerline goodness : 0.934156 Centerline is valid? [False, False] Translation: X:1.69, Y:0.22, Z:-0.10 [[ 0.99440567 0.06821293 -0.08064965 1.68551995] [-0.06901498 0.99758967 -0.00719619 0.22050047] [ 0.07996439 0.01272197 0.99671653 -0.09982265] [ 0. 0. 0. 1. ]] SLAMing on 34.30538475 meters Centerline goodness : 0.937394 Centerline is valid? [False, False] Translation: X:1.69, Y:0.22, Z:-0.10 [[ 0.99407568 0.07306208 -0.08047031 1.68566606] [-0.0735439 0.99728736 -0.00303616 0.22063221] [ 0.08003019 0.00893628 0.99675238 -0.09971796] [ 0. 0. 0. 1. ]] SLAMing on 34.33538475 meters Centerline goodness : 0.930167 Centerline is valid? [False, False] Translation: X:1.69, Y:0.22, Z:-0.10 [[ 9.93283849e-01 8.10890488e-02 -8.25333948e-02 1.68953234e+00] [-8.12821775e-02 9.96690605e-01 1.02284602e-03 2.20274917e-01] [ 8.23432007e-02 5.69251761e-03 9.96587775e-01 -9.82971813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365384750000004 meters Centerline goodness : 0.933967 Centerline is valid? [False, False] Translation: X:1.69, Y:0.22, Z:-0.10 [[ 0.9928659 0.08453639 -0.08408868 1.6919847 ] [-0.08461446 0.99641027 0.00264144 0.21763169] [ 0.08401012 0.00449252 0.99645477 -0.0973922 ] [ 0. 0. 0. 1. ]] SLAMing on 34.39538475 meters Centerline goodness : 0.933460 Centerline is valid? [False, False] Translation: X:1.69, Y:0.22, Z:-0.10 [[ 9.92890195e-01 8.28335196e-02 -8.54849019e-02 1.69356828e+00] [-8.32049709e-02 9.96532145e-01 -7.85341170e-04 2.16589788e-01] [ 8.51234001e-02 7.89252632e-03 9.96339157e-01 -9.64736566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42538475 meters Centerline goodness : 0.935017 Centerline is valid? [False, False] Translation: X:1.69, Y:0.21, Z:-0.10 [[ 0.9928987 0.08143685 -0.08671918 1.6943174 ] [-0.08195747 0.99663281 -0.00245433 0.21202088] [ 0.08622731 0.00954418 0.99622977 -0.09550465] [ 0. 0. 0. 1. ]] SLAMing on 34.45538475 meters Centerline goodness : 0.935385 Centerline is valid? [False, False] Translation: X:1.69, Y:0.21, Z:-0.10 [[ 9.92848721e-01 8.21832826e-02 -8.65870908e-02 1.69351182e+00] [-8.25432314e-02 9.96587317e-01 -5.78893868e-04 2.08280566e-01] [ 8.62440211e-02 7.72193232e-03 9.96244117e-01 -9.52963665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48538475 meters Centerline goodness : 0.933921 Centerline is valid? [False, False] Translation: X:1.69, Y:0.21, Z:-0.10 [[ 0.9929721 0.07980523 -0.08739298 1.6942385 ] [-0.08036224 0.9967616 -0.00286832 0.20568564] [ 0.08688106 0.00987126 0.99616978 -0.09523177] [ 0. 0. 0. 1. ]] SLAMing on 34.51538475 meters Centerline goodness : 0.934851 Centerline is valid? [False, False] Translation: X:1.69, Y:0.20, Z:-0.10 [[ 0.99317312 0.07734197 -0.08732339 1.69321046] [-0.07797237 0.99694818 -0.0038263 0.19809533] [ 0.08676096 0.01060898 0.99617267 -0.09507351] [ 0. 0. 0. 1. ]] SLAMing on 34.545384750000004 meters Centerline goodness : 0.933667 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.09 [[ 0.99339582 0.07453357 -0.0872324 1.69197815] [-0.07523421 0.99715449 -0.00476739 0.18915113] [ 0.08662885 0.01129876 0.99617658 -0.09462593] [ 0. 0. 0. 1. ]] SLAMing on 34.575384750000005 meters Centerline goodness : 0.934642 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.09 [[ 0.99363743 0.07110365 -0.08734374 1.69131906] [-0.07202666 0.99737482 -0.00745785 0.1861763 ] [ 0.08658417 0.01370148 0.99615032 -0.09440223] [ 0. 0. 0. 1. ]] SLAMing on 34.60538475 meters Centerline goodness : 0.933201 Centerline is valid? [False, False] Translation: X:1.69, Y:0.18, Z:-0.09 [[ 0.99383259 0.06827743 -0.08737839 1.69129944] [-0.06932422 0.9975536 -0.00899842 0.18038613] [ 0.08655024 0.01500036 0.99613455 -0.09497714] [ 0. 0. 0. 1. ]] SLAMing on 34.63538475 meters Centerline goodness : 0.933624 Centerline is valid? [False, False] Translation: X:1.69, Y:0.18, Z:-0.10 [[ 0.99380292 0.06872808 -0.08736248 1.69148405] [-0.06968787 0.99753692 -0.00798069 0.17736124] [ 0.0865988 0.01401934 0.99614462 -0.0952731 ] [ 0. 0. 0. 1. ]] SLAMing on 34.66538475 meters Centerline goodness : 0.932247 Centerline is valid? [False, False] Translation: X:1.69, Y:0.17, Z:-0.09 [[ 0.99375928 0.06943765 -0.08729784 1.69101712] [-0.07030168 0.9975022 -0.00685861 0.17461635] [ 0.08660354 0.01295299 0.99615865 -0.0948935 ] [ 0. 0. 0. 1. ]] SLAMing on 34.69538475 meters Centerline goodness : 0.938094 Centerline is valid? [False, False] Translation: X:1.69, Y:0.17, Z:-0.10 [[ 0.99462273 0.07269344 -0.07376509 1.69046786] [-0.07317128 0.99731218 -0.00379258 0.16851935] [ 0.07329112 0.00916968 0.99726843 -0.09786054] [ 0. 0. 0. 1. ]] SLAMing on 34.72538475 meters Centerline goodness : 0.941679 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.10 [[ 0.99508088 0.07814632 -0.06088678 1.69084577] [-0.07846401 0.9969129 -0.0028406 0.16263962] [ 0.06047684 0.00760405 0.99814064 -0.10025169] [ 0. 0. 0. 1. ]] SLAMing on 34.755384750000005 meters Centerline goodness : 0.941625 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.10 [[ 9.94998877e-01 7.93033864e-02 -6.07306184e-02 1.68998926e+00] [-7.95379816e-02 9.96830779e-01 -1.45142366e-03 1.59700823e-01] [ 6.04230468e-02 6.27455571e-03 9.98153137e-01 -9.96786132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78538475 meters Centerline goodness : 0.942566 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.10 [[ 9.94841710e-01 8.16410053e-02 -6.02056309e-02 1.68941638e+00] [-8.16980171e-02 9.96655973e-01 1.51814091e-03 1.51668907e-01] [ 6.01282442e-02 3.40837076e-03 9.98184841e-01 -1.00394478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81538475 meters Centerline goodness : 0.943256 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.10 [[ 0.99479922 0.08221217 -0.0601305 1.68978141] [-0.08219407 0.99661247 0.00277845 0.14716806] [ 0.06015523 0.00217837 0.99818666 -0.10111971] [ 0. 0. 0. 1. ]] SLAMing on 34.84538475 meters Centerline goodness : 0.945222 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.10 [[ 0.99498191 0.08004205 -0.06003563 1.68843352] [-0.08007006 0.99678734 0.00194291 0.13641481] [ 0.05999827 0.0028739 0.99819434 -0.10110652] [ 0. 0. 0. 1. ]] SLAMing on 34.87538475 meters Centerline goodness : 0.945841 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.10 [[ 9.95214734e-01 7.70136189e-02 -6.01376369e-02 1.68775714e+00] [-7.71604464e-02 9.97018681e-01 -1.19664061e-04 1.31325537e-01] [ 5.99491317e-02 4.75933834e-03 9.98190087e-01 -1.00959478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90538475 meters Centerline goodness : 0.943710 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.10 [[ 0.9954307 0.07401698 -0.06032587 1.68753547] [-0.07428266 0.99723486 -0.00217042 0.12630656] [ 0.05999842 0.00664167 0.99817638 -0.10110082] [ 0. 0. 0. 1. ]] SLAMing on 34.935384750000004 meters Centerline goodness : 0.942319 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:-0.10 [[ 0.99582238 0.06869744 -0.06015352 1.68756627] [-0.06916454 0.99758889 -0.00571518 0.11653099] [ 0.05961587 0.0098518 0.99817278 -0.1027725 ] [ 0. 0. 0. 1. ]] SLAMing on 34.96538475 meters Centerline goodness : 0.942319 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:-0.10 [[ 0.99582238 0.06869744 -0.06015352 1.68756627] [-0.06916454 0.99758889 -0.00571518 0.11653099] [ 0.05961587 0.0098518 0.99817278 -0.1027725 ] [ 0. 0. 0. 1. ]] SLAMing on 34.99538475 meters Centerline goodness : 0.937167 Centerline is valid? [False, False] Translation: X:1.69, Y:0.11, Z:-0.10 [[ 0.99608856 0.06386419 -0.06106512 1.6897309 ] [-0.06447506 0.99788657 -0.00808399 0.10565295] [ 0.06041978 0.01198955 0.99810105 -0.10460134] [ 0. 0. 0. 1. ]] SLAMing on 35.02538475 meters Centerline goodness : 0.935259 Centerline is valid? [False, False] Translation: X:1.69, Y:0.10, Z:-0.11 [[ 0.99627779 0.06047388 -0.06142856 1.69016879] [-0.06121281 0.99807244 -0.01021753 0.10012852] [ 0.06069225 0.01393972 0.99805918 -0.10507342] [ 0. 0. 0. 1. ]] SLAMing on 35.05538475 meters Centerline goodness : 0.932800 Centerline is valid? [False, False] Translation: X:1.69, Y:0.09, Z:-0.11 [[ 0.99661 0.05157768 -0.06409565 1.69397984] [-0.05285612 0.99843239 -0.01841174 0.09036472] [ 0.06304554 0.02173718 0.9977739 -0.1061638 ] [ 0. 0. 0. 1. ]] SLAMing on 35.08538475 meters Centerline goodness : 0.931222 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:-0.11 [[ 0.99670067 0.04843317 -0.06513064 1.69518889] [-0.04988917 0.99853571 -0.02091686 0.08609297] [ 0.0640222 0.02409716 0.9976575 -0.10632031] [ 0. 0. 0. 1. ]] SLAMing on 35.115384750000004 meters Centerline goodness : 0.930180 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:-0.11 [[ 0.996771 0.04465155 -0.06673687 1.69756296] [-0.04633838 0.99863878 -0.02394453 0.07890619] [ 0.06557687 0.02695969 0.99748326 -0.10708445] [ 0. 0. 0. 1. ]] SLAMing on 35.14538475 meters Centerline goodness : 0.928330 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:-0.11 [[ 0.99672388 0.04636715 -0.06626909 1.69577421] [-0.04784458 0.99863646 -0.0208832 0.07147591] [ 0.06521044 0.0239854 0.99758323 -0.10586092] [ 0. 0. 0. 1. ]] SLAMing on 35.17538475 meters Centerline goodness : 0.930828 Centerline is valid? [False, False] Translation: X:1.69, Y:0.07, Z:-0.10 [[ 0.99668863 0.04754141 -0.06596653 1.69433256] [-0.04889292 0.9986228 -0.01902601 0.06780411] [ 0.06497115 0.0221883 0.99764043 -0.10465889] [ 0. 0. 0. 1. ]] SLAMing on 35.20538475 meters Centerline goodness : 0.927660 Centerline is valid? [False, False] Translation: X:1.69, Y:0.06, Z:-0.10 [[ 0.99665646 0.04853533 -0.06572836 1.69325488] [-0.0497873 0.99860573 -0.01754463 0.06472389] [ 0.06478518 0.0207584 0.9976833 -0.10386445] [ 0. 0. 0. 1. ]] SLAMing on 35.23538475 meters Centerline goodness : 0.931205 Centerline is valid? [False, False] Translation: X:1.69, Y:0.06, Z:-0.10 [[ 0.99642152 0.05338519 -0.06553 1.69338993] [-0.05427154 0.99845625 -0.01181987 0.05867472] [ 0.06479784 0.01533399 0.99778059 -0.10384864] [ 0. 0. 0. 1. ]] SLAMing on 35.26538475 meters Centerline goodness : 0.929251 Centerline is valid? [False, False] Translation: X:1.69, Y:0.06, Z:-0.10 [[ 0.99639841 0.05401466 -0.06536532 1.69327761] [-0.05485272 0.99843282 -0.01109386 0.05691814] [ 0.06466364 0.01463937 0.99779973 -0.10421362] [ 0. 0. 0. 1. ]] SLAMing on 35.295384750000004 meters Centerline goodness : 0.928286 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.11 [[ 0.99631872 0.05574495 -0.06512686 1.69482464] [-0.0564348 0.99836751 -0.00879987 0.05185271] [ 0.06452999 0.01244289 0.99783819 -0.10636187] [ 0. 0. 0. 1. ]] SLAMing on 35.32538475 meters Centerline goodness : 0.926114 Centerline is valid? [False, False] Translation: X:1.70, Y:0.05, Z:-0.11 [[ 0.99630849 0.05578941 -0.0652452 1.69592875] [-0.0564601 0.99836884 -0.00847982 0.05008597] [ 0.06466569 0.01213227 0.99783323 -0.10745624] [ 0. 0. 0. 1. ]] SLAMing on 35.35538475 meters Centerline goodness : 0.927397 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.11 [[ 0.99633159 0.05523444 -0.06536457 1.69716712] [-0.05588829 0.99840322 -0.0082158 0.04482129] [ 0.0648064 0.01183878 0.99782763 -0.10889628] [ 0. 0. 0. 1. ]] SLAMing on 35.38538475 meters Centerline goodness : 0.927737 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.11 [[ 0.99630902 0.05521244 -0.06572613 1.6981399 ] [-0.05579243 0.99841771 -0.00702029 0.03896928] [ 0.06523453 0.0106614 0.997813 -0.10918399] [ 0. 0. 0. 1. ]] SLAMing on 35.41538475 meters Centerline goodness : 0.927267 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.11 [[ 0.99629759 0.05529421 -0.06583052 1.69860775] [-0.05584521 0.9984179 -0.00655802 0.03725453] [ 0.06536375 0.01021006 0.99780927 -0.10947235] [ 0. 0. 0. 1. ]] SLAMing on 35.44538475 meters Centerline goodness : 0.924372 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.11 [[ 0.99628737 0.05524548 -0.06602587 1.69956153] [-0.05577694 0.99842381 -0.00623172 0.03561665] [ 0.06557753 0.0098913 0.99779845 -0.11015551] [ 0. 0. 0. 1. ]] SLAMing on 35.47538475 meters Centerline goodness : 0.924396 Centerline is valid? [False, False] Translation: X:1.70, Y:0.03, Z:-0.11 [[ 0.99649793 0.05144961 -0.06591522 1.69970324] [-0.05218185 0.99859303 -0.00943465 0.03252163] [ 0.06533707 0.01284118 0.99778062 -0.11118168] [ 0. 0. 0. 1. ]] SLAMing on 35.505384750000005 meters Centerline goodness : 0.921598 Centerline is valid? [False, False] Translation: X:1.70, Y:0.03, Z:-0.11 [[ 0.99648549 0.05155864 -0.06601802 1.69962134] [-0.05222348 0.99860023 -0.00838361 0.02943731] [ 0.06549336 0.01180184 0.99778321 -0.11055538] [ 0. 0. 0. 1. ]] SLAMing on 35.53538475 meters Centerline goodness : 0.920813 Centerline is valid? [False, False] Translation: X:1.70, Y:0.03, Z:-0.11 [[ 0.9966863 0.04826237 -0.06547645 1.6971953 ] [-0.04906488 0.99873824 -0.01070347 0.02606348] [ 0.06487726 0.01388059 0.99779671 -0.10920582] [ 0. 0. 0. 1. ]] SLAMing on 35.56538475 meters Centerline goodness : 0.923326 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.11 [[ 0.99673866 0.0479684 -0.06489284 1.69612667] [-0.04865577 0.99877458 -0.0090528 0.02051573] [ 0.06437907 0.01218068 0.99785117 -0.10818081] [ 0. 0. 0. 1. ]] SLAMing on 35.59538475 meters Centerline goodness : 0.921123 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.11 [[ 0.99674929 0.0479446 -0.06474694 1.69587809] [-0.04858718 0.99878374 -0.00838566 0.01825051] [ 0.06426614 0.01150427 0.99786648 -0.10803007] [ 0. 0. 0. 1. ]] SLAMing on 35.62538475 meters Centerline goodness : 0.922590 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.11 [[ 0.99674851 0.04797135 -0.06473911 1.69574929] [-0.04856458 0.99879098 -0.00762005 0.01628955] [ 0.06429529 0.0107393 0.99787313 -0.10755318] [ 0. 0. 0. 1. ]] SLAMing on 35.65538475 meters Centerline goodness : 0.922366 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99695047 0.04463713 -0.06401001 1.69326387] [-0.04539824 0.99891394 -0.01048494 0.0143929 ] [ 0.06347247 0.0133589 0.99789418 -0.10666223] [ 0. 0. 0. 1. ]] SLAMing on 35.685384750000004 meters Centerline goodness : 0.921255 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99694661 0.04499988 -0.06381586 1.69228144] [-0.04569767 0.99890998 -0.00951658 0.01207736] [ 0.06331806 0.01240376 0.99791631 -0.10576619] [ 0. 0. 0. 1. ]] SLAMing on 35.71538475 meters Centerline goodness : 0.921828 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99696046 0.04466687 -0.06383342 1.69262032] [-0.04533011 0.99893171 -0.00897918 0.00983943] [ 0.06336416 0.01184546 0.99792017 -0.10579358] [ 0. 0. 0. 1. ]] SLAMing on 35.74538475 meters Centerline goodness : 0.921218 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99696264 0.04468266 -0.06378833 1.69279374] [-0.04532777 0.99893427 -0.00870152 0.00906368] [ 0.06333154 0.01156647 0.99792551 -0.10603783] [ 0. 0. 0. 1. ]] SLAMing on 35.77538475 meters Centerline goodness : 0.919266 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99695425 0.04416154 -0.06428046 1.69446754] [-0.04479405 0.99896066 -0.00843151 0.0069843 ] [ 0.0638413 0.01128521 0.99789625 -0.10669349] [ 0. 0. 0. 1. ]] SLAMing on 35.80538475 meters Centerline goodness : 0.915457 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.11 [[ 0.9969607 0.04342612 -0.06468019 1.69703484] [-0.04407398 0.99899106 -0.00862284 0.00522804] [ 0.06424047 0.01144734 0.99786879 -0.10873899] [ 0. 0. 0. 1. ]] SLAMing on 35.83538475 meters Centerline goodness : 0.914390 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 0.99695388 0.04330339 -0.06486734 1.69790472] [-0.04394798 0.9989973 -0.00854256 0.00445004] [ 0.06443238 0.01136733 0.99785733 -0.1093602 ] [ 0. 0. 0. 1. ]] SLAMing on 35.865384750000004 meters Centerline goodness : 0.913617 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 0.99694481 0.04341273 -0.06493371 1.69843044] [-0.04404119 0.99899542 -0.00827789 0.00357264] [ 0.06450912 0.01111236 0.99785524 -0.10986094] [ 0. 0. 0. 1. ]] SLAMing on 35.89538475 meters Centerline goodness : 0.913609 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 0.99693457 0.04315047 -0.06526479 1.70027629] [-0.04377429 0.99900814 -0.00815809 0.00207026] [ 0.06484803 0.01099 0.99783463 -0.11132897] [ 0. 0. 0. 1. ]] SLAMing on 35.92538475 meters Centerline goodness : 0.911303 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 9.96923495e-01 4.36529730e-02 -6.50996328e-02 1.69978196e+00] [-4.42344352e-02 9.98992899e-01 -7.51675105e-03 6.93091037e-04] [ 6.47059424e-02 1.03732712e-02 9.97850458e-01 -1.11146768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95538475 meters Centerline goodness : 0.915517 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 9.96903134e-01 4.40955042e-02 -6.51131939e-02 1.69925560e+00] [-4.46499286e-02 9.98977581e-01 -7.08356561e-03 1.21574716e-04] [ 6.47342675e-02 9.96892821e-03 9.97852742e-01 -1.10547790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98538475 meters Centerline goodness : 0.914916 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.00, Z:-0.11 [[ 0.99669251 0.04881805 -0.06496803 1.69831818] [-0.0490729 0.99879248 -0.0023318 -0.00179791] [ 0.06477575 0.00551226 0.99788462 -0.10925418] [ 0. 0. 0. 1. ]] SLAMing on 36.01538475 meters Centerline goodness : 0.914472 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.00, Z:-0.11 [[ 9.96667266e-01 5.00302326e-02 -6.44308752e-02 1.69651919e+00] [-5.02592962e-02 9.98734322e-01 -1.93827720e-03 -4.54961664e-04] [ 6.42523540e-02 5.17006787e-03 9.97920290e-01 -1.08629011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045384750000004 meters Centerline goodness : 0.911972 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.11 [[ 9.96416568e-01 5.55459010e-02 -6.37861735e-02 1.69513315e+00] [-5.55334557e-02 9.98454885e-01 1.96940583e-03 2.01018146e-03] [ 6.37970090e-02 1.57991804e-03 9.97961645e-01 -1.08436848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07538475 meters Centerline goodness : 0.906395 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.11 [[ 9.96362219e-01 5.71738302e-02 -6.31939984e-02 1.69326020e+00] [-5.71345625e-02 9.98363530e-01 2.42977917e-03 3.24567012e-03] [ 6.32295031e-02 1.18962129e-03 9.97998304e-01 -1.08031059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10538475 meters Centerline goodness : 0.906201 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.11 [[ 0.99604138 0.06277945 -0.06293096 1.69273853] [-0.06248625 0.99802388 0.00661828 0.00373517] [ 0.0632221 -0.00265976 0.99799594 -0.10809611] [ 0. 0. 0. 1. ]] SLAMing on 36.13538475 meters Centerline goodness : 0.905403 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99600003 0.06397043 -0.0623837 1.69155194] [-0.06368121 0.99794836 0.00661558 0.00506791] [ 0.06267892 -0.00261645 0.99803031 -0.10843748] [ 0. 0. 0. 1. ]] SLAMing on 36.16538475 meters Centerline goodness : 0.902688 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.11 [[ 0.99567366 0.06943787 -0.06174425 1.69051118] [-0.06887436 0.99756235 0.01121098 0.00461544] [ 0.0623722 -0.00690989 0.99802904 -0.10839667] [ 0. 0. 0. 1. ]] SLAMing on 36.19538475 meters Centerline goodness : 0.902113 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 0.99564979 0.07000319 -0.06149031 1.69020892] [-0.06944287 0.997523 0.01120512 0.00500525] [ 0.06212239 -0.00688631 0.99804478 -0.108934 ] [ 0. 0. 0. 1. ]] SLAMing on 36.22538475 meters Centerline goodness : 0.903646 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.11 [[ 0.99557028 0.0714908 -0.06106459 1.68895304] [-0.07085825 0.99740851 0.01246484 0.00174472] [ 0.06179746 -0.0080827 0.99805598 -0.10886801] [ 0. 0. 0. 1. ]] SLAMing on 36.255384750000005 meters Centerline goodness : 0.900859 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.11 [[ 9.95794482e-01 6.83631372e-02 -6.09904237e-02 1.68829548e+00] [-6.79507321e-02 9.97649754e-01 8.81290798e-03 6.69554667e-04] [ 6.14495592e-02 -4.63150120e-03 9.98099444e-01 -1.09546052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28538475 meters Centerline goodness : 0.903325 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.11 [[ 0.9959719 0.06623871 -0.06043508 1.68738157] [-0.06594549 0.99779981 0.0068356 -0.00556877] [ 0.06075489 -0.00282265 0.99814872 -0.11080169] [ 0. 0. 0. 1. ]] SLAMing on 36.31538475 meters Centerline goodness : 0.903558 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.11 [[ 9.96177678e-01 6.35111724e-02 -5.99696963e-02 1.68595468e+00] [-6.33944181e-02 9.97981127e-01 3.84939680e-03 -7.92798296e-03] [ 6.00931048e-02 -3.29391691e-05 9.98192776e-01 -1.11317182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34538475 meters Centerline goodness : 0.905834 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.11 [[ 9.96333212e-01 6.22437986e-02 -5.87012782e-02 1.68324368e+00] [-6.22008295e-02 9.98060369e-01 2.56069929e-03 -1.47961142e-02] [ 5.87468070e-02 1.09995845e-03 9.98272309e-01 -1.12135738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37538475 meters Centerline goodness : 0.907492 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.11 [[ 9.96273791e-01 6.33548876e-02 -5.85208577e-02 1.68235984e+00] [-6.32271750e-02 9.97991010e-01 4.03327800e-03 -1.93075449e-02] [ 5.86588178e-02 -3.18140646e-04 9.98278038e-01 -1.11759112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40538475 meters Centerline goodness : 0.910895 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.03, Z:-0.11 [[ 0.99614941 0.065919 -0.05780169 1.6796448 ] [-0.06563992 0.99782078 0.00671582 -0.02894559] [ 0.05811843 -0.00289586 0.9983055 -0.11131084] [ 0. 0. 0. 1. ]] SLAMing on 36.435384750000004 meters Centerline goodness : 0.912856 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.03, Z:-0.11 [[ 9.96309783e-01 6.42711478e-02 -5.68861681e-02 1.67667377e+00] [-6.41293975e-02 9.97932260e-01 4.31573684e-03 -3.19533770e-02] [ 5.70459196e-02 -6.51735154e-04 9.98371343e-01 -1.11443974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46538475 meters Centerline goodness : 0.916282 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.04, Z:-0.11 [[ 0.99626351 0.06521944 -0.05661669 1.67609305] [-0.06500729 0.99786917 0.00558273 -0.03606379] [ 0.05686015 -0.00188138 0.99838038 -0.111632 ] [ 0. 0. 0. 1. ]] SLAMing on 36.49538475 meters Centerline goodness : 0.917626 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.11 [[ 9.96415595e-01 6.43088809e-02 -5.49575309e-02 1.67340855e+00] [-6.41509606e-02 9.97929444e-01 4.63463545e-03 -4.38958667e-02] [ 5.51417864e-02 -1.09244463e-03 9.98477937e-01 -1.13373738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52538475 meters Centerline goodness : 0.918442 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.05, Z:-0.11 [[ 9.96614718e-01 6.14200385e-02 -5.46505468e-02 1.67219010e+00] [-6.14103241e-02 9.98110874e-01 1.85863705e-03 -4.78607042e-02] [ 5.46614626e-02 1.50376275e-03 9.98503812e-01 -1.13815984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55538475 meters Centerline goodness : 0.920576 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.06, Z:-0.12 [[ 0.99697478 0.05668728 -0.05317741 1.66883565] [-0.05690555 0.99837619 -0.00259828 -0.05729769] [ 0.05294378 0.00561651 0.9985817 -0.11505096] [ 0. 0. 0. 1. ]] SLAMing on 36.58538475 meters Centerline goodness : 0.923375 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.06, Z:-0.11 [[ 9.96951074e-01 5.67021735e-02 -5.36042842e-02 1.66959228e+00] [-5.68344799e-02 9.98383167e-01 -9.45824702e-04 -6.34845937e-02] [ 5.34639847e-02 3.98951257e-03 9.98561809e-01 -1.14385389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615384750000004 meters Centerline goodness : 0.922796 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.07, Z:-0.11 [[ 0.99711789 0.05297483 -0.05431003 1.67047374] [-0.05315037 0.99858491 -0.00179199 -0.07367724] [ 0.05413824 0.00467342 0.99852251 -0.11318509] [ 0. 0. 0. 1. ]] SLAMing on 36.64538475 meters Centerline goodness : 0.925771 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.08, Z:-0.11 [[ 0.9972984 0.04949129 -0.05428174 1.66979212] [-0.04982109 0.99874692 -0.00473865 -0.07736316] [ 0.0539792 0.00743022 0.99851442 -0.11319959] [ 0. 0. 0. 1. ]] SLAMing on 36.67538475 meters Centerline goodness : 0.926942 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.09, Z:-0.11 [[ 0.99749234 0.04506722 -0.05457087 1.67089464] [-0.04549956 0.99894185 -0.00670555 -0.08673235] [ 0.05421093 0.00917168 0.99848738 -0.11354163] [ 0. 0. 0. 1. ]] SLAMing on 36.70538475 meters Centerline goodness : 0.928652 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.09, Z:-0.12 [[ 0.99778403 0.03775285 -0.05478823 1.67405638] [-0.03846579 0.99918766 -0.01201655 -0.09478609] [ 0.05429006 0.01409739 0.99842569 -0.11688112] [ 0. 0. 0. 1. ]] SLAMing on 36.73538475 meters Centerline goodness : 0.929470 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.10, Z:-0.12 [[ 0.99779381 0.03660037 -0.05538885 1.6763833 ] [-0.03726348 0.99924508 -0.01098645 -0.10029809] [ 0.05494493 0.01302619 0.99840441 -0.11687756] [ 0. 0. 0. 1. ]] SLAMing on 36.76538475 meters Centerline goodness : 0.931114 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.11, Z:-0.12 [[ 0.99777865 0.03617684 -0.0559374 1.67787892] [-0.0367535 0.99928095 -0.00931461 -0.10596424] [ 0.05556021 0.01134981 0.99839083 -0.11603325] [ 0. 0. 0. 1. ]] SLAMing on 36.795384750000004 meters Centerline goodness : 0.933694 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.11, Z:-0.12 [[ 0.99789482 0.03295079 -0.05585847 1.67731507] [-0.03362724 0.99937154 -0.0112134 -0.11295511] [ 0.05545387 0.01306816 0.99837573 -0.11577425] [ 0. 0. 0. 1. ]] SLAMing on 36.82538475 meters Centerline goodness : 0.935565 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.12, Z:-0.12 [[ 0.99787745 0.03355492 -0.05580918 1.67691156] [-0.03416335 0.9993664 -0.00998364 -0.11652897] [ 0.05543882 0.01186907 0.99839154 -0.11528247] [ 0. 0. 0. 1. ]] SLAMing on 36.85538475 meters Centerline goodness : 0.936561 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.12, Z:-0.11 [[ 0.99784601 0.03530983 -0.05528621 1.67483254] [-0.03578904 0.99932969 -0.00770154 -0.12252204] [ 0.05497721 0.00966359 0.99844085 -0.11421178] [ 0. 0. 0. 1. ]] SLAMing on 36.88538475 meters Centerline goodness : 0.936561 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.12, Z:-0.11 [[ 0.99784601 0.03530983 -0.05528621 1.67483254] [-0.03578904 0.99932969 -0.00770154 -0.12252204] [ 0.05497721 0.00966359 0.99844085 -0.11421178] [ 0. 0. 0. 1. ]] SLAMing on 36.91538475 meters Centerline goodness : 0.940043 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.12, Z:-0.11 [[ 0.99782585 0.0360473 -0.05517396 1.67431257] [-0.03647455 0.99931175 -0.00675598 -0.12484726] [ 0.05489246 0.00875373 0.9984539 -0.11393822] [ 0. 0. 0. 1. ]] SLAMing on 36.94538475 meters Centerline goodness : 0.938720 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.13, Z:-0.11 [[ 0.99780762 0.03758166 -0.05447534 1.6725977 ] [-0.03792678 0.99926639 -0.00531507 -0.12948978] [ 0.05423563 0.00736949 0.99850097 -0.11413442] [ 0. 0. 0. 1. ]] SLAMing on 36.97538475 meters Centerline goodness : 0.939080 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.13, Z:-0.11 [[ 0.99778638 0.03840656 -0.05428889 1.6717228 ] [-0.03869391 0.99924207 -0.0042514 -0.13203578] [ 0.05408446 0.00634263 0.99851622 -0.11359671] [ 0. 0. 0. 1. ]] SLAMing on 37.005384750000005 meters Centerline goodness : 0.941552 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.13, Z:-0.11 [[ 0.99777666 0.03926158 -0.0538542 1.67050595] [-0.03950463 0.99921341 -0.00345551 -0.13409573] [ 0.05367617 0.00557532 0.99854283 -0.11343347] [ 0. 0. 0. 1. ]] SLAMing on 37.03538475 meters Centerline goodness : 0.941826 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.14, Z:-0.11 [[ 0.99775875 0.04056111 -0.05321911 1.6692952 ] [-0.04073377 0.99916769 -0.00216332 -0.1381506 ] [ 0.05308707 0.00432629 0.99858052 -0.11394338] [ 0. 0. 0. 1. ]] SLAMing on 37.06538475 meters Centerline goodness : 0.939288 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.14, Z:-0.12 [[ 9.97760837e-01 4.08051178e-02 -5.29929645e-02 1.67025932e+00] [-4.09419484e-02 9.99160403e-01 -1.49859088e-03 -1.43006157e-01] [ 5.28873216e-02 3.66487051e-03 9.98593761e-01 -1.15782310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09538475 meters Centerline goodness : 0.938607 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.15, Z:-0.12 [[ 9.97748480e-01 4.09409511e-02 -5.31207012e-02 1.67098282e+00] [-4.10520327e-02 9.99156508e-01 -1.00122068e-03 -1.45672025e-01] [ 5.30349034e-02 3.17967917e-03 9.98587597e-01 -1.16358920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12538475 meters Centerline goodness : 0.938808 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.15, Z:-0.12 [[ 0.99790708 0.03716039 -0.05292031 1.67104179] [-0.03743797 0.99928986 -0.00426335 -0.1498413 ] [ 0.0527243 0.00623566 0.99858964 -0.11751572] [ 0. 0. 0. 1. ]] SLAMing on 37.15538475 meters Centerline goodness : 0.940438 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.15, Z:-0.12 [[ 0.9978946 0.03652614 -0.05359298 1.67256526] [-0.0367534 0.99931905 -0.00326069 -0.15370528] [ 0.05343738 0.00522355 0.99855754 -0.11654937] [ 0. 0. 0. 1. ]] SLAMing on 37.185384750000004 meters Centerline goodness : 0.940086 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.16, Z:-0.12 [[ 0.99787836 0.03627653 -0.05406284 1.67355446] [-0.03646426 0.99933186 -0.00248989 -0.15683843] [ 0.0539364 0.00445597 0.99853443 -0.11599544] [ 0. 0. 0. 1. ]] SLAMing on 37.21538475 meters Centerline goodness : 0.939260 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.12 [[ 0.99789732 0.03476253 -0.05470376 1.67665449] [-0.03492984 0.99938755 -0.00210487 -0.16068025] [ 0.05459708 0.00401124 0.99850041 -0.11659011] [ 0. 0. 0. 1. ]] SLAMing on 37.24538475 meters Centerline goodness : 0.937379 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.12 [[ 0.99803539 0.03003205 -0.05498577 1.67837388] [-0.03042674 0.9995168 -0.00635489 -0.16204117] [ 0.05476835 0.00801544 0.99846692 -0.11826202] [ 0. 0. 0. 1. ]] SLAMing on 37.27538475 meters Centerline goodness : 0.938187 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.12 [[ 0.9980085 0.02975205 -0.05562235 1.67962853] [-0.03009892 0.99953229 -0.00540856 -0.16456931] [ 0.05543542 0.00707196 0.99843723 -0.11730145] [ 0. 0. 0. 1. ]] SLAMing on 37.30538475 meters Centerline goodness : 0.940808 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.17, Z:-0.12 [[ 0.99812136 0.02601947 -0.05546835 1.67876241] [-0.02653287 0.99961147 -0.00853933 -0.16694533] [ 0.05522461 0.00999502 0.99842393 -0.11678331] [ 0. 0. 0. 1. ]] SLAMing on 37.33538475 meters Centerline goodness : 0.945917 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.17, Z:-0.11 [[ 0.99810052 0.0262182 -0.05574912 1.67847707] [-0.02665037 0.99962015 -0.00702268 -0.16975912] [ 0.05554382 0.00849508 0.99842011 -0.11469615] [ 0. 0. 0. 1. ]] SLAMing on 37.365384750000004 meters Centerline goodness : 0.950919 Centerline is valid? [False, True] Translation: X:1.68, Y:-0.18, Z:-0.11 [[ 0.99810521 0.02587383 -0.05582588 1.67831698] [-0.02606705 0.99965645 -0.00273557 -0.17599052] [ 0.05573592 0.0041856 0.99843677 -0.10869492] [ 0. 0. 0. 1. ]] SLAMing on 37.39538475 meters Centerline goodness : 0.952952 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.18, Z:-0.10 [[ 9.98171677e-01 2.34975999e-02 -5.56881170e-02 1.70639921e+00] [-2.34378282e-02 9.99723806e-01 1.72628741e-03 -1.79392764e-01] [ 5.57132999e-02 -4.17922680e-04 9.98446720e-01 -1.03333151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42538475 meters Centerline goodness : 0.956833 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.18, Z:-0.10 [[ 9.98265246e-01 1.91133001e-02 -5.56882432e-02 1.73369978e+00] [-1.90469396e-02 9.99817107e-01 1.72220577e-03 -1.82727146e-01] [ 5.57109753e-02 -6.58527561e-04 9.98446720e-01 -1.01688819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters Centerline goodness : 0.956884 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.18, Z:-0.10 [[ 9.98318923e-01 1.60664010e-02 -5.56883989e-02 1.76231275e+00] [-1.59955859e-02 9.99870588e-01 1.71715706e-03 -1.84361440e-01] [ 5.57087807e-02 -8.23501819e-04 9.98446720e-01 -9.92552032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48538475 meters Centerline goodness : 0.955507 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.19, Z:-0.10 [[ 9.98392864e-01 1.05107807e-02 -5.56885254e-02 1.79113225e+00] [-1.04315615e-02 9.99944122e-01 1.71304267e-03 -1.87696716e-01] [ 5.57034191e-02 -1.12937130e-03 9.98446720e-01 -9.88133291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters Centerline goodness : 0.954989 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.19, Z:-0.10 [[ 9.98419703e-01 7.54120531e-03 -5.56886514e-02 1.82034625e+00] [-7.45760126e-03 9.99970731e-01 1.70893983e-03 -1.88781324e-01] [ 5.56999089e-02 -1.29093544e-03 9.98446720e-01 -9.79014637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545384750000004 meters Centerline goodness : 0.952114 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.19, Z:-0.10 [[ 9.98445854e-01 2.15319100e-03 -5.56887777e-02 1.84950068e+00] [-2.06144819e-03 9.99996422e-01 1.70481199e-03 -1.90381970e-01] [ 5.56922493e-02 -1.58736294e-03 9.98446720e-01 -9.89010745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters Centerline goodness : 0.950816 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.19, Z:-0.10 [[ 9.98448166e-01 -7.31330561e-05 -5.56889026e-02 1.87807430e+00] [ 1.68105307e-04 9.99998540e-01 1.70072459e-03 -1.91418598e-01] [ 5.56886968e-02 -1.70744695e-03 9.98446720e-01 -9.74628713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60538475 meters Centerline goodness : 0.950316 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.19, Z:-0.10 [[ 9.98445794e-01 -2.16676145e-03 -5.56893379e-02 1.90644114e+00] [ 2.26418336e-03 9.99996015e-01 1.68634678e-03 -1.91538262e-01] [ 5.56854621e-02 -1.80981672e-03 9.98446721e-01 -9.70838127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters Centerline goodness : 0.950591 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.19, Z:-0.10 [[ 9.98443712e-01 -2.97232068e-03 -5.56894913e-02 1.93540435e+00] [ 3.07071020e-03 9.99993872e-01 1.68126552e-03 -1.91196707e-01] [ 5.56841528e-02 -1.84965528e-03 9.98446721e-01 -9.70792695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66538475 meters Centerline goodness : 0.947972 Centerline is valid? [True, False] Translation: X:1.94, Y:-0.19, Z:-0.10 [[ 9.98432673e-01 -2.57048000e-03 -5.59069741e-02 1.93505144e+00] [ 2.64545984e-03 9.99995698e-01 1.26718706e-03 -1.88596993e-01] [ 5.59034763e-02 -1.41310062e-03 9.98435178e-01 -9.68432606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69538475 meters Centerline goodness : 0.948416 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.19, Z:-0.10 [[ 9.98447068e-01 -1.99292656e-03 -5.56729728e-02 1.93391908e+00] [ 2.04773584e-03 9.99997473e-01 9.27457659e-04 -1.86252835e-01] [ 5.56709838e-02 -1.04002092e-03 9.98448627e-01 -9.68059104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72538475 meters Centerline goodness : 0.946091 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.18, Z:-0.10 [[ 0.99845354 0.00344258 -0.05548582 1.93155112] [-0.00317307 0.99998274 0.00494475 -0.18307471] [ 0.05550189 -0.00476104 0.99844723 -0.09539819] [ 0. 0. 0. 1. ]] SLAMing on 37.755384750000005 meters Centerline goodness : 0.947795 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.18, Z:-0.09 [[ 0.99840812 0.00781749 -0.05585796 1.9311717 ] [-0.00730603 0.99992955 0.00935481 -0.18224171] [ 0.05592715 -0.00893182 0.9983949 -0.09358837] [ 0. 0. 0. 1. ]] SLAMing on 37.78538475 meters Centerline goodness : 0.949743 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.18, Z:-0.10 [[ 9.98639436e-01 1.30425812e-02 -5.04892941e-02 1.93977805e+00] [-1.30048714e-02 9.99914855e-01 1.07534163e-03 -1.76411794e-01] [ 5.04990204e-02 -4.17271777e-04 9.98724023e-01 -9.76587250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81538475 meters Centerline goodness : 0.951666 Centerline is valid? [False, True] Translation: X:1.94, Y:-0.17, Z:-0.10 [[ 9.98653759e-01 1.39097782e-02 -4.99718601e-02 1.93763600e+00] [-1.38834409e-02 9.99903238e-01 8.74129508e-04 -1.74067441e-01] [ 4.99791837e-02 -1.79171353e-04 9.98750244e-01 -9.71632894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84538475 meters Centerline goodness : 0.956289 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.17, Z:-0.09 [[ 9.98595040e-01 1.76365335e-02 -4.99689795e-02 1.96680478e+00] [-1.76077674e-02 9.99844455e-01 1.01585200e-03 -1.73025327e-01] [ 4.99791232e-02 -1.34582600e-04 9.98750254e-01 -9.33426903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87538475 meters Centerline goodness : 0.956019 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.17, Z:-0.09 [[ 9.98586687e-01 1.81030754e-02 -4.99690539e-02 1.99563336e+00] [-1.80750769e-02 9.99836120e-01 1.01217683e-03 -1.72725759e-01] [ 4.99791885e-02 -1.07551816e-04 9.98750254e-01 -9.16198618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90538475 meters Centerline goodness : 0.954924 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.17, Z:-0.09 [[ 9.98582066e-01 1.83560140e-02 -4.99691287e-02 2.02304814e+00] [-1.83285173e-02 9.99831510e-01 1.00847408e-03 -1.73499112e-01] [ 4.99792209e-02 -9.11840902e-05 9.98750254e-01 -9.05428243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters Centerline goodness : 0.955295 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.17, Z:-0.09 [[ 9.98650358e-01 1.41611775e-02 -4.99692208e-02 2.05093575e+00] [-1.41286620e-02 9.99899682e-01 1.00388864e-03 -1.74429757e-01] [ 4.99784242e-02 -2.96535517e-04 9.98750254e-01 -8.89512231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96538475 meters Centerline goodness : 0.956245 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.18, Z:-0.09 [[ 9.98683020e-01 1.16315635e-02 -4.99693105e-02 2.08014553e+00] [-1.15961081e-02 9.99932263e-01 9.99401326e-04 -1.75834916e-01] [ 4.99775504e-02 -4.18635611e-04 9.98750254e-01 -8.68403825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters Centerline goodness : 0.954428 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.18, Z:-0.09 [[ 9.98741422e-01 4.31660686e-03 -4.99693842e-02 2.10814733e+00] [-4.27218761e-03 9.99990378e-01 9.95701784e-04 -1.77462043e-01] [ 4.99732015e-02 -7.80970031e-04 9.98750254e-01 -8.65270558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02538475 meters Centerline goodness : 0.953563 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.18, Z:-0.09 [[ 9.98750480e-01 7.27530279e-04 -4.99694752e-02 2.13621376e+00] [-6.78852431e-04 9.99999278e-01 9.91116319e-04 -1.79273077e-01] [ 4.99701602e-02 -9.55956000e-04 9.98750254e-01 -8.64654906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters Centerline goodness : 0.954484 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.18, Z:-0.08 [[ 9.98723454e-01 -7.38281143e-03 -4.99695645e-02 2.16430129e+00] [ 7.44140240e-03 9.99971826e-01 9.86594175e-04 -1.81811236e-01] [ 4.99608728e-02 -1.35717838e-03 9.98750254e-01 -8.41490071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08538475 meters Centerline goodness : 0.953731 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.18, Z:-0.08 [[ 9.98689226e-01 -1.10834672e-02 -4.99698473e-02 2.19262761e+00] [ 1.11459568e-02 9.99937409e-01 9.72056656e-04 -1.83030910e-01] [ 4.99559459e-02 -1.52774427e-03 9.98750254e-01 -8.31744994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters Centerline goodness : 0.952693 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.18, Z:-0.08 [[ 9.98623729e-01 -1.59259044e-02 -4.99701247e-02 2.22183018e+00] [ 1.59937221e-02 9.99871634e-01 9.57579315e-04 -1.83261218e-01] [ 4.99484599e-02 -1.75546971e-03 9.98750254e-01 -8.29907004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14538475 meters Centerline goodness : 0.952848 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.18, Z:-0.08 [[ 9.98615775e-01 -1.64163667e-02 -4.99703635e-02 2.25074025e+00] [ 1.64841661e-02 9.99863680e-01 9.44951349e-04 -1.82490316e-01] [ 4.99480389e-02 -1.76736310e-03 9.98750254e-01 -8.21453948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters Centerline goodness : 0.952116 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.18, Z:-0.08 [[ 9.98572535e-01 -1.88635231e-02 -4.99705986e-02 2.27991658e+00] [ 1.89337508e-02 9.99820306e-01 9.32349412e-04 -1.80439984e-01] [ 4.99440318e-02 -1.87714938e-03 9.98750254e-01 -8.07736832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20538475 meters Centerline goodness : 0.951432 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.18, Z:-0.08 [[ 9.98554091e-01 -1.98152325e-02 -4.99708340e-02 2.30711980e+00] [ 1.98860102e-02 9.99801831e-01 9.19559870e-04 -1.79554143e-01] [ 4.99427100e-02 -1.91195079e-03 9.98750254e-01 -8.03582818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters Centerline goodness : 0.952057 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.18, Z:-0.08 [[ 9.98534503e-01 -2.07786048e-02 -4.99709499e-02 2.33556270e+00] [ 2.08502694e-02 9.99782192e-01 9.13216328e-04 -1.79316558e-01] [ 4.99410905e-02 -1.95378578e-03 9.98750254e-01 -7.85213989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26538475 meters Centerline goodness : 0.952608 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.18, Z:-0.08 [[ 9.98473276e-01 -2.35371024e-02 -4.99712089e-02 2.36416766e+00] [ 2.36114942e-02 9.99720806e-01 8.98818247e-04 -1.75768242e-01] [ 4.99361017e-02 -2.07734091e-03 9.98750254e-01 -7.67833680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters Centerline goodness : 0.951825 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.17, Z:-0.08 [[ 9.98435195e-01 -2.51000832e-02 -4.99714638e-02 2.39231507e+00] [ 2.51757083e-02 9.99682650e-01 8.84414809e-04 -1.71867433e-01] [ 4.99334065e-02 -2.14109787e-03 9.98750254e-01 -7.68816655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32538475 meters Centerline goodness : 0.953061 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.17, Z:-0.07 [[ 9.98412211e-01 -2.59980500e-02 -4.99715818e-02 2.42066612e+00] [ 2.60744614e-02 9.99659618e-01 8.77698603e-04 -1.69821746e-01] [ 4.99317539e-02 -2.17928709e-03 9.98750254e-01 -7.43866041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35538475 meters Centerline goodness : 0.954165 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.17, Z:-0.07 [[ 9.98444661e-01 -2.47201969e-02 -4.99717002e-02 2.44905491e+00] [ 2.47946723e-02 9.99692186e-01 8.70902864e-04 -1.66241340e-01] [ 4.99347893e-02 -2.10858025e-03 9.98750254e-01 -7.25261710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38538475 meters Centerline goodness : 0.956218 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.16, Z:-0.07 [[ 9.98443962e-01 -2.47482421e-02 -4.99717779e-02 2.47806869e+00] [ 2.48225288e-02 9.99691498e-01 8.66425711e-04 -1.63610870e-01] [ 4.99349190e-02 -2.10550342e-03 9.98750254e-01 -7.08745344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41538475 meters Centerline goodness : 0.956593 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.16, Z:-0.07 [[ 9.98461996e-01 -2.40092276e-02 -4.99719915e-02 2.50627603e+00] [ 2.40819663e-02 9.99709623e-01 8.53923680e-04 -1.61162769e-01] [ 4.99369787e-02 -2.05603415e-03 9.98750255e-01 -6.80383325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44538475 meters Centerline goodness : 0.957949 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.16, Z:-0.07 [[ 9.98516085e-01 -2.16426571e-02 -4.99722361e-02 2.53473407e+00] [ 2.17117108e-02 9.99763921e-01 8.39359867e-04 -1.56054894e-01] [ 4.99422727e-02 -1.92309707e-03 9.98750255e-01 -6.57933261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47538475 meters Centerline goodness : 0.954347 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.15, Z:-0.07 [[ 9.98554502e-01 -1.97907616e-02 -4.99723132e-02 2.56287667e+00] [ 1.98572702e-02 9.99802477e-01 8.34745822e-04 -1.53780043e-01] [ 4.99459222e-02 -1.82585293e-03 9.98750255e-01 -6.57888881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505384750000005 meters Centerline goodness : 0.954473 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.15, Z:-0.06 [[ 9.98613828e-01 -1.65282708e-02 -4.99723892e-02 2.59212515e+00] [ 1.65904730e-02 9.99862024e-01 8.30168478e-04 -1.49437448e-01] [ 4.99517730e-02 -1.65808330e-03 9.98750255e-01 -6.40627540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53538475 meters Centerline goodness : 0.953570 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.15, Z:-0.06 [[ 9.98659222e-01 -1.35091305e-02 -4.99725998e-02 2.62108202e+00] [ 1.35669151e-02 9.99907631e-01 8.17291646e-04 -1.45900256e-01] [ 4.99569430e-02 -1.49416986e-03 9.98750255e-01 -6.23057804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.56538475 meters Centerline goodness : 0.953398 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.14, Z:-0.06 [[ 9.98680866e-01 -1.18002671e-02 -4.99728087e-02 2.64925427e+00] [ 1.18552665e-02 9.99929400e-01 8.04314577e-04 -1.44751818e-01] [ 4.99597895e-02 -1.39569455e-03 9.98750255e-01 -6.08035997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59538475 meters Centerline goodness : 0.952730 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 9.98697844e-01 -1.02629466e-02 -4.99728823e-02 2.67721850e+00] [ 1.03157941e-02 9.99946471e-01 7.99715920e-04 -1.43263103e-01] [ 4.99619999e-02 -1.31418453e-03 9.98750255e-01 -6.04535457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62538475 meters Centerline goodness : 0.949869 Centerline is valid? [True, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99872988 -0.00622311 -0.04999902 2.67701894] [ 0.00646404 0.99996826 0.00465836 -0.1416599 ] [ 0.04996844 -0.00497564 0.9987384 -0.05994069] [ 0. 0. 0. 1. ]] SLAMing on 38.65538475 meters Centerline goodness : 0.948153 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99874144 -0.00607067 -0.04978639 2.67664045] [ 0.00629049 0.99997114 0.00425965 -0.14018907] [ 0.04975909 -0.00456747 0.99875081 -0.06036075] [ 0. 0. 0. 1. ]] SLAMing on 38.685384750000004 meters Centerline goodness : 0.946774 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99873597 -0.00642439 -0.04985164 2.6774735 ] [ 0.00662392 0.9999707 0.00383825 -0.13967159] [ 0.04982553 -0.00416361 0.99874926 -0.06116955] [ 0. 0. 0. 1. ]] SLAMing on 38.71538475 meters Centerline goodness : 0.944964 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99872876 -0.0067138 -0.04995788 2.67791771] [ 0.00692171 0.99996809 0.00398978 -0.13961921] [ 0.0499295 -0.00433051 0.99874336 -0.06089758] [ 0. 0. 0. 1. ]] SLAMing on 38.74538475 meters Centerline goodness : 0.946331 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99873236 -0.00660118 -0.04990078 2.67748424] [ 0.00682007 0.99996785 0.00421752 -0.13994866] [ 0.04987134 -0.0045525 0.99874527 -0.06040517] [ 0. 0. 0. 1. ]] SLAMing on 38.77538475 meters Centerline goodness : 0.943892 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99873848 -0.0069036 -0.04973725 2.67788838] [ 0.00709449 0.99996813 0.00366233 -0.13861716] [ 0.04971038 -0.00401057 0.99875562 -0.06133861] [ 0. 0. 0. 1. ]] SLAMing on 38.80538475 meters Centerline goodness : 0.943892 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99873848 -0.0069036 -0.04973725 2.67788838] [ 0.00709449 0.99996813 0.00366233 -0.13861716] [ 0.04971038 -0.00401057 0.99875562 -0.06133861] [ 0. 0. 0. 1. ]] SLAMing on 38.83538475 meters Centerline goodness : 0.944094 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.9987494 -0.00685388 -0.04952442 2.67757163] [ 0.00703121 0.99996948 0.00340733 -0.13753644] [ 0.04949956 -0.00375129 0.9987671 -0.06159884] [ 0. 0. 0. 1. ]] SLAMing on 38.865384750000004 meters Centerline goodness : 0.943070 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:-0.06 [[ 0.99877273 -0.00667519 -0.04907632 2.67637191] [ 0.00683029 0.99997219 0.00299335 -0.13526822] [ 0.04905498 -0.00332489 0.99879055 -0.06145238] [ 0. 0. 0. 1. ]] SLAMing on 38.89538475 meters Centerline goodness : 0.941189 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 0.99877505 -0.00673082 -0.0490214 2.67613468] [ 0.00687298 0.99997265 0.00273212 -0.13392039] [ 0.04900167 -0.0030657 0.99879399 -0.06131904] [ 0. 0. 0. 1. ]] SLAMing on 38.92538475 meters Centerline goodness : 0.937035 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98785469e-01 -7.24053612e-03 -4.87356192e-02 2.67648631e+00] [ 7.31499414e-03 9.99972334e-01 1.34960950e-03 -1.29419047e-01] [ 4.87244990e-02 -1.70447113e-03 9.98810802e-01 -6.27901548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95538475 meters Centerline goodness : 0.937757 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98793912e-01 -7.49721516e-03 -4.85233256e-02 2.67659943e+00] [ 7.53987348e-03 9.99971332e-01 6.96149757e-04 -1.27198963e-01] [ 4.85167154e-02 -1.06116988e-03 9.98821807e-01 -6.35298626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98538475 meters Centerline goodness : 0.936360 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98785920e-01 -8.26692440e-03 -4.85627765e-02 2.67703154e+00] [ 8.27882647e-03 9.99965729e-01 4.39478939e-05 -1.25330214e-01] [ 4.85607489e-02 -4.45937337e-04 9.98820131e-01 -6.35507134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01538475 meters Centerline goodness : 0.935104 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98758973e-01 -8.94006860e-03 -4.89958029e-02 2.67817546e+00] [ 8.94929003e-03 9.99959954e-01 -3.11633098e-05 -1.25317384e-01] [ 4.89941194e-02 -4.07353015e-04 9.98798984e-01 -6.32997763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045384750000004 meters Centerline goodness : 0.933836 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98683736e-01 -1.17098232e-02 -4.99367087e-02 2.68233304e+00] [ 1.16711322e-02 9.99931321e-01 -1.06633107e-03 -1.25055449e-01] [ 4.99457657e-02 4.82109562e-04 9.98751815e-01 -6.42196627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07538475 meters Centerline goodness : 0.934466 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:-0.06 [[ 9.98655702e-01 -1.24897671e-02 -5.03070011e-02 2.68362661e+00] [ 1.24516841e-02 9.99921902e-01 -1.07035542e-03 -1.25488039e-01] [ 5.03164407e-02 4.42509656e-04 9.98733228e-01 -6.41867892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10538475 meters Centerline goodness : 0.931191 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:-0.06 [[ 9.98578129e-01 -1.50170829e-02 -5.11488814e-02 2.68739834e+00] [ 1.49490736e-02 9.99886791e-01 -1.71195920e-03 -1.25549257e-01] [ 5.11687995e-02 9.44896621e-04 9.98689572e-01 -6.47560852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13538475 meters Centerline goodness : 0.931349 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:-0.06 [[ 9.98538162e-01 -1.59326374e-02 -5.16496910e-02 2.68900603e+00] [ 1.58681985e-02 9.99872718e-01 -1.65746792e-03 -1.25783135e-01] [ 5.16695248e-02 8.35457419e-04 9.98663889e-01 -6.45813046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16538475 meters Centerline goodness : 0.929762 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:-0.06 [[ 9.98505200e-01 -1.73761143e-02 -5.18211936e-02 2.68986989e+00] [ 1.73131914e-02 9.99848733e-01 -1.66291405e-03 -1.26091378e-01] [ 5.18422497e-02 7.63238079e-04 9.98654995e-01 -6.36010808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19538475 meters Centerline goodness : 0.929971 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:-0.06 [[ 9.98468516e-01 -1.80544188e-02 -5.22939813e-02 2.69108635e+00] [ 1.79887120e-02 9.99836699e-01 -1.72692837e-03 -1.25812518e-01] [ 5.23166203e-02 7.83582236e-04 9.98630240e-01 -6.33615689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22538475 meters Centerline goodness : 0.928855 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.06 [[ 9.98352132e-01 -2.08652190e-02 -5.34571237e-02 2.69571611e+00] [ 2.07159872e-02 9.99779808e-01 -3.34426237e-03 -1.22598784e-01] [ 5.35151316e-02 2.23133438e-03 9.98564546e-01 -6.45434068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255384750000005 meters Centerline goodness : 0.927620 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.06 [[ 9.98344178e-01 -1.87914142e-02 -5.43671380e-02 2.69811505e+00] [ 1.88681152e-02 9.99821578e-01 8.97814556e-04 -1.23711954e-01] [ 5.43405665e-02 -1.92213336e-03 9.98520610e-01 -6.28739223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28538475 meters Centerline goodness : 0.928745 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.06 [[ 9.98238322e-01 -2.05786589e-02 -5.56486475e-02 2.70030870e+00] [ 2.06243921e-02 9.99787264e-01 2.47580324e-04 -1.21071981e-01] [ 5.56317142e-02 -1.39486369e-03 9.98450383e-01 -6.11434337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31538475 meters Centerline goodness : 0.927513 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.06 [[ 9.98197978e-01 -2.13886487e-02 -5.60653427e-02 2.70142699e+00] [ 2.13924322e-02 9.99771014e-01 -5.32743486e-04 -1.18588601e-01] [ 5.60638992e-02 -6.67590572e-04 9.98426960e-01 -6.12301123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34538475 meters Centerline goodness : 0.925215 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.06 [[ 9.98089162e-01 -2.38791302e-02 -5.69895791e-02 2.70472876e+00] [ 2.37446929e-02 9.99713448e-01 -3.03506314e-03 -1.10988590e-01] [ 5.70457233e-02 1.67606357e-03 9.98370160e-01 -6.23331891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37538475 meters Centerline goodness : 0.925324 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.11, Z:-0.06 [[ 9.98063140e-01 -2.17813318e-02 -5.82712730e-02 2.70785625e+00] [ 2.18431664e-02 9.99761320e-01 4.24330674e-04 -1.09532496e-01] [ 5.82481223e-02 -1.69633792e-03 9.98300696e-01 -6.15484963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40538475 meters Centerline goodness : 0.924170 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.11, Z:-0.06 [[ 0.99803768 -0.01964241 -0.0594556 2.71050408] [ 0.01991096 0.99979404 0.00392768 -0.10816212] [ 0.05936621 -0.00510379 0.99822322 -0.060426 ] [ 0. 0. 0. 1. ]] SLAMing on 39.435384750000004 meters Centerline goodness : 0.920768 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:-0.06 [[ 9.97901060e-01 -2.27456171e-02 -6.06309514e-02 2.71387956e+00] [ 2.28768752e-02 9.99737207e-01 1.47149726e-03 -9.97456588e-02] [ 6.05815479e-02 -2.85545538e-03 9.98159167e-01 -6.02698621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46538475 meters Centerline goodness : 0.916293 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.06 [[ 9.97800275e-01 -2.50563742e-02 -6.13741825e-02 2.71620239e+00] [ 2.50505135e-02 9.99685812e-01 -8.65063316e-04 -8.84045819e-02] [ 6.13765749e-02 -6.74294375e-04 9.98114453e-01 -6.02390733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49538475 meters Centerline goodness : 0.916547 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.06 [[ 9.97795007e-01 -2.22313349e-02 -6.25371306e-02 2.71764095e+00] [ 2.24223680e-02 9.99745815e-01 2.35448605e-03 -8.47310631e-02] [ 6.24688912e-02 -3.75152498e-03 9.98039861e-01 -5.85752936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52538475 meters Centerline goodness : 0.918939 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.06 [[ 0.99783409 -0.01652795 -0.06367061 2.71743028] [ 0.01704223 0.99982632 0.00754245 -0.07412082] [ 0.06353489 -0.0086112 0.99794247 -0.05505905] [ 0. 0. 0. 1. ]] SLAMing on 39.55538475 meters Centerline goodness : 0.918912 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:-0.05 [[ 0.99789139 -0.01236422 -0.06371727 2.71613436] [ 0.01307118 0.99985742 0.01069027 -0.06755017] [ 0.06357601 -0.01150059 0.99791073 -0.05356348] [ 0. 0. 0. 1. ]] SLAMing on 39.58538475 meters Centerline goodness : 0.919239 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.05 [[ 0.99795451 -0.00641609 -0.06360525 2.71446809] [ 0.0074506 0.99984358 0.01604074 -0.06100861] [ 0.06349239 -0.01648183 0.99784621 -0.05139029] [ 0. 0. 0. 1. ]] SLAMing on 39.615384750000004 meters Centerline goodness : 0.915418 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.05 [[ 9.97947148e-01 3.09007866e-04 -6.40421280e-02 2.71357531e+00] [ 9.97715034e-04 9.99791989e-01 2.03711292e-02 -4.65767850e-02] [ 6.40351014e-02 -2.03932061e-02 9.97739256e-01 -4.98501510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64538475 meters Centerline goodness : 0.915638 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.05 [[ 9.97925870e-01 2.79748810e-03 -6.43127654e-02 2.71401119e+00] [-1.43857366e-03 9.99774932e-01 2.11663828e-02 -3.32691386e-02] [ 6.43575034e-02 -2.10299623e-02 9.97705293e-01 -4.98727573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67538475 meters Centerline goodness : 0.913535 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.05 [[ 9.97923784e-01 1.94864583e-03 -6.43764224e-02 2.71418338e+00] [-7.01658793e-04 9.99811805e-01 1.93871771e-02 -2.62203751e-02] [ 6.44020859e-02 -1.93017549e-02 9.97737347e-01 -5.00428887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70538475 meters Centerline goodness : 0.899083 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.05 [[ 9.97908022e-01 9.72948796e-04 -6.46423395e-02 2.71499439e+00] [ 1.72238138e-04 9.99843190e-01 1.77078066e-02 -1.97774790e-02] [ 6.46494317e-02 -1.76818962e-02 9.97751373e-01 -5.03449030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73538475 meters Centerline goodness : 0.895769 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.05 [[ 9.97781140e-01 -2.22164002e-04 -6.65788854e-02 2.72112463e+00] [ 1.33647648e-03 9.99859775e-01 1.66926522e-02 -8.02719280e-03] [ 6.65658409e-02 -1.67445946e-02 9.97641522e-01 -5.21357367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76538475 meters Centerline goodness : 0.894558 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:-0.05 [[ 9.97779574e-01 -1.27791252e-03 -6.65904569e-02 2.72196663e+00] [ 2.28626719e-03 9.99883848e-01 1.50686249e-02 -9.63904468e-04] [ 6.65634659e-02 -1.51874097e-02 9.97666601e-01 -5.28635766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795384750000004 meters Centerline goodness : 0.885522 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.05 [[ 9.98322635e-01 2.42523635e-03 -5.78449156e-02 2.70278431e+00] [-4.97143706e-04 9.99444503e-01 3.33232282e-02 1.19113643e-02] [ 5.78935996e-02 -3.32385757e-02 9.97769276e-01 -4.70364295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82538475 meters Centerline goodness : 0.884998 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.05 [[ 9.98330355e-01 1.75524520e-03 -5.77357911e-02 2.70264065e+00] [ 4.94126680e-05 9.99511882e-01 3.12409091e-02 1.94773844e-02] [ 5.77624447e-02 -3.11916007e-02 9.97842966e-01 -4.74518598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85538475 meters Centerline goodness : 0.899184 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.05 [[ 9.98362347e-01 3.92387841e-03 -5.70721169e-02 2.70133627e+00] [-2.17886542e-03 9.99529160e-01 3.06057281e-02 3.45190349e-02] [ 5.71653382e-02 -3.04312541e-02 9.97900828e-01 -4.80196442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88538475 meters Centerline goodness : 0.903986 Centerline is valid? [False, False] Translation: X:2.70, Y:0.04, Z:-0.05 [[ 0.99833127 0.00632143 -0.05739961 2.70195633] [-0.00450766 0.9994881 0.03167371 0.04201812] [ 0.05757045 -0.03136211 0.99784872 -0.04820487] [ 0. 0. 0. 1. ]] SLAMing on 39.91538475 meters Centerline goodness : 0.912774 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.05 [[ 0.99827149 0.01268663 -0.05738541 2.70177003] [-0.01086175 0.99942881 0.03200118 0.05971873] [ 0.05775862 -0.03132256 0.99783908 -0.05028368] [ 0. 0. 0. 1. ]] SLAMing on 39.94538475 meters Centerline goodness : 0.912993 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.05 [[ 0.99825109 0.01875979 -0.05606093 2.70884406] [-0.01757956 0.99961488 0.02147224 0.06960617] [ 0.05644215 -0.02044916 0.99819643 -0.05324936] [ 0. 0. 0. 1. ]] SLAMing on 39.97538475 meters Centerline goodness : 0.914854 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.06 [[ 0.99823293 0.02632772 -0.05327161 2.71739501] [-0.02562365 0.99957562 0.01385687 0.07875316] [ 0.05361382 -0.01246737 0.99848391 -0.05663386] [ 0. 0. 0. 1. ]] SLAMing on 40.005384750000005 meters Centerline goodness : 0.913470 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.06 [[ 0.99786525 0.03943782 -0.05205379 2.72370002] [-0.03907596 0.9992046 0.00795167 0.09558683] [ 0.05232599 -0.00590065 0.99861262 -0.05864535] [ 0. 0. 0. 1. ]] SLAMing on 40.03538475 meters Centerline goodness : 0.914342 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.06 [[ 9.97494881e-01 5.16024035e-02 -4.83854812e-02 2.73218393e+00] [-5.15226537e-02 9.98667631e-01 2.89480889e-03 1.11401883e-01] [ 4.84703929e-02 -3.94608662e-04 9.98824542e-01 -6.23177949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.06538475 meters Centerline goodness : 0.912123 Centerline is valid? [False, False] Translation: X:2.73, Y:0.12, Z:-0.06 [[ 0.99725966 0.05613798 -0.04818401 2.73200278] [-0.05592773 0.99841854 0.00570177 0.11880516] [ 0.0484279 -0.00299132 0.9988222 -0.06183476] [ 0. 0. 0. 1. ]] SLAMing on 40.09538475 meters Centerline goodness : 0.913528 Centerline is valid? [False, False] Translation: X:2.73, Y:0.13, Z:-0.06 [[ 0.9968792 0.06263517 -0.04804885 2.73262403] [-0.0622585 0.99801675 0.00929782 0.13005706] [ 0.04853593 -0.00627735 0.99880171 -0.06192862] [ 0. 0. 0. 1. ]] SLAMing on 40.12538475 meters Centerline goodness : 0.912230 Centerline is valid? [False, False] Translation: X:2.73, Y:0.13, Z:-0.06 [[ 0.99689435 0.06208782 -0.04844338 2.73385568] [-0.06179566 0.99806059 0.00750689 0.13484505] [ 0.04881552 -0.00448999 0.99879772 -0.06266865] [ 0. 0. 0. 1. ]] SLAMing on 40.15538475 meters Centerline goodness : 0.909839 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:-0.06 [[ 9.96997505e-01 5.98036829e-02 -4.91883565e-02 2.73670557e+00] [-5.96747527e-02 9.98209508e-01 4.08684790e-03 1.41855832e-01] [ 4.93446937e-02 -1.13927415e-03 9.98781159e-01 -6.44559704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185384750000004 meters Centerline goodness : 0.910396 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:-0.06 [[ 9.97248889e-01 5.53708209e-02 -4.92821046e-02 2.73685159e+00] [-5.54787721e-02 9.98459527e-01 -8.24237473e-04 1.46246331e-01] [ 4.91605481e-02 3.55608055e-03 9.98784559e-01 -6.47645157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21538475 meters Centerline goodness : 0.911091 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:-0.07 [[ 0.99754825 0.0492687 -0.04969995 2.73780911] [-0.04967315 0.99874145 -0.00693501 0.1505471 ] [ 0.04929572 0.00938676 0.99874012 -0.06528061] [ 0. 0. 0. 1. ]] SLAMing on 40.24538475 meters Centerline goodness : 0.910278 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:-0.07 [[ 0.99771014 0.0462168 -0.04938092 2.73734817] [-0.04674939 0.9988597 -0.00968464 0.15250523] [ 0.04887702 0.011971 0.99873306 -0.06530067] [ 0. 0. 0. 1. ]] SLAMing on 40.27538475 meters Centerline goodness : 0.909285 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:-0.07 [[ 0.99779542 0.04368003 -0.04996358 2.73964509] [-0.04433991 0.99894231 -0.01217542 0.15572536] [ 0.04937891 0.01436396 0.99867682 -0.06652612] [ 0. 0. 0. 1. ]] SLAMing on 40.30538475 meters Centerline goodness : 0.911160 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:-0.07 [[ 0.9978085 0.0433525 -0.04998751 2.73984864] [-0.04405324 0.99894457 -0.01300239 0.15812581] [ 0.04937106 0.01517601 0.9986652 -0.06662102] [ 0. 0. 0. 1. ]] SLAMing on 40.33538475 meters Centerline goodness : 0.913995 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:-0.07 [[ 0.99766812 0.04633134 -0.05011723 2.7411712 ] [-0.04695296 0.99883321 -0.01129732 0.1633143 ] [ 0.04953533 0.01362413 0.99867944 -0.06734915] [ 0. 0. 0. 1. ]] SLAMing on 40.365384750000004 meters Centerline goodness : 0.915097 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:-0.07 [[ 0.99749846 0.04994983 -0.05001828 2.74138164] [-0.05042016 0.99869455 -0.00818521 0.16532149] [ 0.04954413 0.01068667 0.99871476 -0.06725288] [ 0. 0. 0. 1. ]] SLAMing on 40.39538475 meters Centerline goodness : 0.917991 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:-0.07 [[ 0.99731249 0.05341641 -0.05014472 2.74197799] [-0.05380027 0.99853162 -0.00633585 0.1711078 ] [ 0.04973265 0.00901662 0.99872187 -0.06714373] [ 0. 0. 0. 1. ]] SLAMing on 40.42538475 meters Centerline goodness : 0.915607 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:-0.07 [[ 0.99731827 0.05302962 -0.05043934 2.74299734] [-0.05347213 0.99854145 -0.00746369 0.17389265] [ 0.04996997 0.01014077 0.99869924 -0.06772268] [ 0. 0. 0. 1. ]] SLAMing on 40.45538475 meters Centerline goodness : 0.916087 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.07 [[ 0.99732557 0.05275306 -0.05058477 2.74372895] [-0.05323514 0.99854809 -0.0082296 0.17598631] [ 0.05007719 0.01090047 0.99868586 -0.06827046] [ 0. 0. 0. 1. ]] SLAMing on 40.48538475 meters Centerline goodness : 0.914276 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.99737798 0.05153487 -0.05080678 2.74520605] [-0.05210315 0.9985924 -0.00992409 0.17990955] [ 0.05022383 0.01254526 0.99865919 -0.06940381] [ 0. 0. 0. 1. ]] SLAMing on 40.51538475 meters Centerline goodness : 0.915852 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.99740187 0.05085947 -0.05101796 2.74578548] [-0.05145417 0.99862109 -0.01041112 0.18033491] [ 0.0504181 0.01300915 0.99864347 -0.06958563] [ 0. 0. 0. 1. ]] SLAMing on 40.545384750000004 meters Centerline goodness : 0.916351 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.99762181 0.04590879 -0.05141118 2.74611788] [-0.04673752 0.99879406 -0.01503454 0.18137029] [ 0.05065896 0.01740162 0.9985644 -0.06948942] [ 0. 0. 0. 1. ]] SLAMing on 40.57538475 meters Centerline goodness : 0.917711 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.99783121 0.04042953 -0.05194541 2.74639908] [-0.04150329 0.99894293 -0.01976091 0.18221762] [ 0.05109157 0.02187396 0.9984544 -0.06888305] [ 0. 0. 0. 1. ]] SLAMing on 40.60538475 meters Centerline goodness : 0.918012 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.99785937 0.03966422 -0.05199442 2.74647244] [-0.0407557 0.9989669 -0.02010253 0.18223821] [ 0.05114335 0.02217857 0.99844503 -0.06875 ] [ 0. 0. 0. 1. ]] SLAMing on 40.63538475 meters Centerline goodness : 0.918496 Centerline is valid? [False, False] Translation: X:2.75, Y:0.18, Z:-0.07 [[ 0.9978722 0.0391992 -0.05210076 2.74655045] [-0.04030417 0.99898063 -0.02032927 0.18275412] [ 0.05125076 0.02238589 0.99843489 -0.06850563] [ 0. 0. 0. 1. ]] SLAMing on 40.66538475 meters Centerline goodness : 0.917371 Centerline is valid? [False, False] Translation: X:2.75, Y:0.19, Z:-0.07 [[ 0.99791027 0.03786853 -0.05235519 2.74676251] [-0.03905195 0.99900005 -0.0217682 0.18623655] [ 0.05147851 0.02376728 0.99839125 -0.06796785] [ 0. 0. 0. 1. ]] SLAMing on 40.69538475 meters Centerline goodness : 0.920504 Centerline is valid? [False, False] Translation: X:2.75, Y:0.19, Z:-0.07 [[ 0.99779113 0.04095358 -0.05230362 2.74732172] [-0.04197673 0.99894517 -0.01861482 0.18709916] [ 0.0514861 0.02076924 0.99845772 -0.06812786] [ 0. 0. 0. 1. ]] SLAMing on 40.72538475 meters Centerline goodness : 0.920504 Centerline is valid? [False, False] Translation: X:2.75, Y:0.19, Z:-0.07 [[ 0.99779113 0.04095358 -0.05230362 2.74732172] [-0.04197673 0.99894517 -0.01861482 0.18709916] [ 0.0514861 0.02076924 0.99845772 -0.06812786] [ 0. 0. 0. 1. ]] SLAMing on 40.755384750000005 meters Centerline goodness : 0.887760 Centerline is valid? [False, False] Translation: X:2.75, Y:0.19, Z:-0.07 [[ 0.99764186 0.04427941 -0.05244089 2.74793228] [-0.04520538 0.99883971 -0.01660423 0.19226972] [ 0.05164482 0.01893569 0.99848598 -0.06788759] [ 0. 0. 0. 1. ]] SLAMing on 40.78538475 meters Centerline goodness : 0.920233 Centerline is valid? [False, False] Translation: X:2.76, Y:0.20, Z:-0.07 [[ 0.99743443 0.05388535 -0.04712663 2.75709643] [-0.05482238 0.99831872 -0.01882114 0.1992101 ] [ 0.04603321 0.02135644 0.99871159 -0.06940567] [ 0. 0. 0. 1. ]] SLAMing on 40.81538475 meters Centerline goodness : 0.915837 Centerline is valid? [False, False] Translation: X:2.76, Y:0.20, Z:-0.07 [[ 0.99716061 0.05886816 -0.04696026 2.75656013] [-0.05965537 0.99809805 -0.01554058 0.20395679] [ 0.0459561 0.01829788 0.99877586 -0.06838248] [ 0. 0. 0. 1. ]] SLAMing on 40.84538475 meters Centerline goodness : 0.921032 Centerline is valid? [False, False] Translation: X:2.76, Y:0.21, Z:-0.07 [[ 0.9966724 0.06677402 -0.04674773 2.75684541] [-0.06725782 0.99769636 -0.00885221 0.20756173] [ 0.04604894 0.01196691 0.9988675 -0.06781743] [ 0. 0. 0. 1. ]] SLAMing on 40.87538475 meters Centerline goodness : 0.922166 Centerline is valid? [False, False] Translation: X:2.76, Y:0.22, Z:-0.07 [[ 0.99565338 0.07781372 -0.05117987 2.76410811] [-0.07827012 0.99690781 -0.00697148 0.21628493] [ 0.05047914 0.01094703 0.99866512 -0.06669389] [ 0. 0. 0. 1. ]] SLAMing on 40.90538475 meters Centerline goodness : 0.922614 Centerline is valid? [False, False] Translation: X:2.77, Y:0.22, Z:-0.07 [[ 0.99519777 0.0828219 -0.05217217 2.76664849] [-0.08315204 0.99652808 -0.00418552 0.218362 ] [ 0.05164438 0.00850364 0.99862933 -0.06627638] [ 0. 0. 0. 1. ]] SLAMing on 40.935384750000004 meters Centerline goodness : 0.920300 Centerline is valid? [False, False] Translation: X:2.77, Y:0.22, Z:-0.07 [[ 9.94552810e-01 8.92084682e-02 -5.39125010e-02 2.77065907e+00] [-8.93872259e-02 9.95996535e-01 -9.08721197e-04 2.19736867e-01] [ 5.36155985e-02 5.72286012e-03 9.98545250e-01 -6.60100402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96538475 meters Centerline goodness : 0.918011 Centerline is valid? [False, False] Translation: X:2.77, Y:0.22, Z:-0.06 [[ 0.99408182 0.08516869 -0.06743605 2.76986195] [-0.08578739 0.99629338 -0.00632721 0.22423888] [ 0.06664721 0.01207493 0.99770354 -0.06123798] [ 0. 0. 0. 1. ]] SLAMing on 40.99538475 meters Centerline goodness : 0.916966 Centerline is valid? [False, False] Translation: X:2.77, Y:0.22, Z:-0.06 [[ 0.99374589 0.08778492 -0.0690138 2.77312789] [-0.08836333 0.99607385 -0.00536757 0.22320466] [ 0.06827165 0.01143229 0.99760127 -0.0613662 ] [ 0. 0. 0. 1. ]] SLAMing on 41.02538475 meters Centerline goodness : 0.915055 Centerline is valid? [False, False] Translation: X:2.77, Y:0.22, Z:-0.06 [[ 0.9936157 0.08859834 -0.06984391 2.77485218] [-0.08917381 0.99600272 -0.00515888 0.22281998] [ 0.06910766 0.01135419 0.99754459 -0.06153657] [ 0. 0. 0. 1. ]] SLAMing on 41.05538475 meters Centerline goodness : 0.913687 Centerline is valid? [False, False] Translation: X:2.78, Y:0.22, Z:-0.06 [[ 0.99336339 0.09050703 -0.07097637 2.77647214] [-0.09096067 0.99584941 -0.00317889 0.21864008] [ 0.07039407 0.00961385 0.99747293 -0.06127701] [ 0. 0. 0. 1. ]] SLAMing on 41.08538475 meters Centerline goodness : 0.914517 Centerline is valid? [False, False] Translation: X:2.78, Y:0.22, Z:-0.06 [[ 0.99350383 0.08797401 -0.07218533 2.77776733] [-0.08867117 0.99603972 -0.00650458 0.21745365] [ 0.07132722 0.01286308 0.99737003 -0.06082957] [ 0. 0. 0. 1. ]] SLAMing on 41.115384750000004 meters Centerline goodness : 0.910866 Centerline is valid? [False, False] Translation: X:2.78, Y:0.21, Z:-0.06 [[ 0.99357102 0.08620813 -0.07338111 2.7780372 ] [-0.08699129 0.99618055 -0.00753827 0.21136059] [ 0.07245097 0.01387333 0.99727548 -0.05980057] [ 0. 0. 0. 1. ]] SLAMing on 41.14538475 meters Centerline goodness : 0.880994 Centerline is valid? [False, False] Translation: X:2.78, Y:0.21, Z:-0.06 [[ 0.99371342 0.0835614 -0.07450593 2.77878623] [-0.08452906 0.99637159 -0.00992474 0.20790348] [ 0.07340627 0.01616027 0.99717118 -0.05919764] [ 0. 0. 0. 1. ]] SLAMing on 41.17538475 meters Centerline goodness : 0.877200 Centerline is valid? [False, False] Translation: X:2.78, Y:0.20, Z:-0.06 [[ 0.99379612 0.0817998 -0.0753529 2.77703426] [-0.08274842 0.99652472 -0.0095488 0.19775073] [ 0.07430994 0.0157249 0.99711121 -0.05703142] [ 0. 0. 0. 1. ]] SLAMing on 41.20538475 meters Centerline goodness : 0.881495 Centerline is valid? [False, False] Translation: X:2.78, Y:0.19, Z:-0.06 [[ 0.99394267 0.07898673 -0.07641384 2.77744435] [-0.08014205 0.99670918 -0.01216794 0.19464127] [ 0.07520127 0.0182182 0.99700194 -0.05613349] [ 0. 0. 0. 1. ]] SLAMing on 41.23538475 meters Centerline goodness : 0.889176 Centerline is valid? [False, False] Translation: X:2.78, Y:0.19, Z:-0.06 [[ 0.99398618 0.07773994 -0.07712311 2.77689573] [-0.07885763 0.99681898 -0.01154964 0.18648786] [ 0.07597991 0.01756193 0.99695468 -0.05556162] [ 0. 0. 0. 1. ]] SLAMing on 41.26538475 meters Centerline goodness : 0.908886 Centerline is valid? [False, False] Translation: X:2.78, Y:0.18, Z:-0.05 [[ 0.9938524 0.07927414 -0.07728528 2.77607352] [-0.08018261 0.99674206 -0.00871839 0.18059323] [ 0.07634234 0.01486172 0.9969709 -0.05490588] [ 0. 0. 0. 1. ]] SLAMing on 41.295384750000004 meters Centerline goodness : 0.904120 Centerline is valid? [False, False] Translation: X:2.78, Y:0.17, Z:-0.05 [[ 0.99354245 0.08105059 -0.07939904 2.77558467] [-0.08190858 0.99661084 -0.00760407 0.169075 ] [ 0.07851363 0.01405843 0.99681391 -0.05107293] [ 0. 0. 0. 1. ]] SLAMing on 41.32538475 meters Centerline goodness : 0.901331 Centerline is valid? [False, False] Translation: X:2.78, Y:0.16, Z:-0.05 [[ 0.99330263 0.08299944 -0.08038019 2.77634698] [-0.08369764 0.99647683 -0.00535041 0.16276829] [ 0.07965292 0.01204221 0.99674992 -0.05035334] [ 0. 0. 0. 1. ]] SLAMing on 41.35538475 meters Centerline goodness : 0.906108 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:-0.05 [[ 0.99272511 0.0872691 -0.08295159 2.77856016] [-0.08781251 0.99613275 -0.00291833 0.15136556] [ 0.08237611 0.01018129 0.99654931 -0.04821711] [ 0. 0. 0. 1. ]] SLAMing on 41.38538475 meters Centerline goodness : 0.905270 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:-0.05 [[ 9.92388562e-01 8.98569896e-02 -8.42060804e-02 2.78028335e+00] [-9.02142150e-02 9.95922287e-01 -4.39118796e-04 1.45181812e-01] [ 8.38232543e-02 8.03236191e-03 9.96448264e-01 -4.78924731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41538475 meters Centerline goodness : 0.904957 Centerline is valid? [False, False] Translation: X:2.79, Y:0.13, Z:-0.05 [[ 0.99152766 0.09550809 -0.08804036 2.78566459] [-0.09561778 0.99541366 0.00298027 0.13197506] [ 0.08792121 0.00546321 0.99611245 -0.04636726] [ 0. 0. 0. 1. ]] SLAMing on 41.44538475 meters Centerline goodness : 0.907281 Centerline is valid? [False, False] Translation: X:2.79, Y:0.13, Z:-0.05 [[ 0.99123151 0.09668045 -0.09007212 2.78786902] [-0.09680331 0.99529897 0.00301382 0.12517429] [ 0.08994007 0.00573189 0.99593068 -0.04528736] [ 0. 0. 0. 1. ]] SLAMing on 41.47538475 meters Centerline goodness : 0.905771 Centerline is valid? [False, False] Translation: X:2.79, Y:0.12, Z:-0.04 [[ 9.91104260e-01 9.63045326e-02 -9.18574088e-02 2.78882703e+00] [-9.65144615e-02 9.95329229e-01 2.16446562e-03 1.18026372e-01] [ 9.16368117e-02 6.72035726e-03 9.95769819e-01 -4.36648484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505384750000005 meters Centerline goodness : 0.906892 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.04 [[ 9.90989774e-01 9.49560360e-02 -9.44596172e-02 2.78881170e+00] [-9.52154575e-02 9.95455119e-01 1.76718234e-03 1.00964567e-01] [ 9.41981141e-02 7.24275604e-03 9.95527126e-01 -4.06116315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53538475 meters Centerline goodness : 0.903211 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.04 [[ 9.91137269e-01 8.92799198e-02 -9.83667121e-02 2.79236726e+00] [-8.99310728e-02 9.95945569e-01 -2.19685502e-03 8.44167885e-02] [ 9.77717559e-02 1.10236088e-02 9.95147810e-01 -3.96125446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56538475 meters Centerline goodness : 0.904369 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.04 [[ 0.99125344 0.08607889 -0.10003525 2.79488199] [-0.0868803 0.99621198 -0.00367445 0.0765061 ] [ 0.09934002 0.0123334 0.99497711 -0.04068927] [ 0. 0. 0. 1. ]] SLAMing on 41.59538475 meters Centerline goodness : 0.898157 Centerline is valid? [False, False] Translation: X:2.80, Y:0.07, Z:-0.04 [[ 0.99145335 0.08090332 -0.10234702 2.79813478] [-0.08221755 0.99657659 -0.00868137 0.07035261] [ 0.10129429 0.01702189 0.99471087 -0.04127077] [ 0. 0. 0. 1. ]] SLAMing on 41.62538475 meters Centerline goodness : 0.896694 Centerline is valid? [False, False] Translation: X:2.80, Y:0.06, Z:-0.04 [[ 0.99167034 0.07224119 -0.10663556 2.80449677] [-0.07439794 0.99709405 -0.01638267 0.05585816] [ 0.10514218 0.02417968 0.9941632 -0.04232586] [ 0. 0. 0. 1. ]] SLAMing on 41.65538475 meters Centerline goodness : 0.896515 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.04 [[ 0.9920777 0.06703515 -0.1062456 2.80382606] [-0.06946344 0.99739744 -0.01931791 0.04154143] [ 0.10467411 0.02654505 0.99415225 -0.04386205] [ 0. 0. 0. 1. ]] SLAMing on 41.685384750000004 meters Centerline goodness : 0.898799 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.04 [[ 0.99229242 0.06440449 -0.10586695 2.80262183] [-0.06697157 0.99753657 -0.02087103 0.03518987] [ 0.10426197 0.02780024 0.99416125 -0.04412048] [ 0. 0. 0. 1. ]] SLAMing on 41.71538475 meters Centerline goodness : 0.900646 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.04 [[ 0.99249296 0.0624633 -0.10514778 2.80033477] [-0.06472948 0.99773547 -0.01827623 0.01970891] [ 0.10376808 0.02494519 0.99428865 -0.04144223] [ 0. 0. 0. 1. ]] SLAMing on 41.74538475 meters Centerline goodness : 0.902707 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.04 [[ 0.99270052 0.05961255 -0.10484288 2.79927909] [-0.06205861 0.99786762 -0.02022247 0.01418163] [ 0.10341381 0.02658126 0.99428317 -0.04170924] [ 0. 0. 0. 1. ]] SLAMing on 41.77538475 meters Centerline goodness : 0.903573 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.04 [[ 0.99267484 0.05984074 -0.1049559 2.79972396] [-0.06213339 0.99789248 -0.01870912 0.00730379] [ 0.10361513 0.02509333 0.99430087 -0.04203477] [ 0. 0. 0. 1. ]] SLAMing on 41.80538475 meters Centerline goodness : 0.904987 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.04 [[ 0.99281741 0.05771005 -0.10480052 2.80062648] [-0.0599679 0.99802849 -0.01851998 -0.00572809] [ 0.10352511 0.02467162 0.9943208 -0.04375671] [ 0. 0. 0. 1. ]] SLAMing on 41.83538475 meters Centerline goodness : 0.912973 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.05 [[ 0.99323768 0.05240363 -0.10359913 2.7985938 ] [-0.05500816 0.99823364 -0.02244333 -0.01688234] [ 0.10224002 0.02799036 0.99436589 -0.04545608] [ 0. 0. 0. 1. ]] SLAMing on 41.865384750000004 meters Centerline goodness : 0.912749 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.05 [[ 0.99343685 0.04924603 -0.10323783 2.79750071] [-0.05206072 0.99833724 -0.02474763 -0.02170324] [ 0.10184745 0.02995985 0.99434878 -0.04577568] [ 0. 0. 0. 1. ]] SLAMing on 41.89538475 meters Centerline goodness : 0.916812 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.05 [[ 0.99374261 0.04233354 -0.10336097 2.79867623] [-0.04543082 0.99858069 -0.02779656 -0.0328759 ] [ 0.10203754 0.0323184 0.99425543 -0.04617434] [ 0. 0. 0. 1. ]] SLAMing on 41.92538475 meters Centerline goodness : 0.919033 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.05 [[ 0.99391438 0.03795631 -0.1034095 2.79914822] [-0.04130668 0.99868235 -0.03045187 -0.03852671] [ 0.1021174 0.03453805 0.9941726 -0.04676486] [ 0. 0. 0. 1. ]] SLAMing on 41.95538475 meters Centerline goodness : 0.924127 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.04 [[ 0.99425341 0.02793448 -0.10334321 2.80141328] [-0.03129418 0.99902836 -0.03103251 -0.05172864] [ 0.10237592 0.03408822 0.99416154 -0.04161791] [ 0. 0. 0. 1. ]] SLAMing on 41.98538475 meters Centerline goodness : 0.928105 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.04 [[ 0.99437285 0.02341301 -0.10331733 2.80143357] [-0.02701736 0.99906926 -0.03362556 -0.05724555] [ 0.1024339 0.0362277 0.9940799 -0.0414131 ] [ 0. 0. 0. 1. ]] SLAMing on 42.01538475 meters Centerline goodness : 0.931774 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.04 [[ 0.99445027 0.01895283 -0.10348652 2.80177162] [-0.02283003 0.9990761 -0.03641064 -0.06172754] [ 0.10270082 0.03857118 0.99396419 -0.04123894] [ 0. 0. 0. 1. ]] SLAMing on 42.045384750000004 meters Centerline goodness : 0.933613 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99457319 0.01379509 -0.10312064 2.80226049] [-0.01792281 0.99907027 -0.03920924 -0.06851471] [ 0.10248387 0.04084467 0.99389575 -0.04189482] [ 0. 0. 0. 1. ]] SLAMing on 42.07538475 meters Centerline goodness : 0.937205 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99460521 0.01317802 -0.10289224 2.80245691] [-0.01720914 0.99911466 -0.03838924 -0.07159948] [ 0.10229525 0.03995282 0.99395143 -0.04166264] [ 0. 0. 0. 1. ]] SLAMing on 42.10538475 meters Centerline goodness : 0.937800 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99461751 0.01331471 -0.10275564 2.80205338] [-0.01730385 0.99912683 -0.03802838 -0.07212024] [ 0.10215958 0.03960176 0.99397944 -0.04140509] [ 0. 0. 0. 1. ]] SLAMing on 42.13538475 meters Centerline goodness : 0.937943 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99460916 0.01274496 -0.1029086 2.80255447] [-0.0167469 0.99913289 -0.03811836 -0.07206705] [ 0.10233354 0.03963627 0.99396017 -0.04120216] [ 0. 0. 0. 1. ]] SLAMing on 42.16538475 meters Centerline goodness : 0.937386 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99450137 0.01574591 -0.10353304 2.8040151 ] [-0.01936116 0.99923404 -0.034007 -0.07391798] [ 0.10291826 0.03582453 0.99404448 -0.04030227] [ 0. 0. 0. 1. ]] SLAMing on 42.19538475 meters Centerline goodness : 0.934928 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.04 [[ 0.99448136 0.01505331 -0.10382782 2.80487994] [-0.01875938 0.99921785 -0.03481066 -0.07149513] [ 0.10322259 0.0365663 0.99398592 -0.04039462] [ 0. 0. 0. 1. ]] SLAMing on 42.22538475 meters Centerline goodness : 0.936328 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 0.99437586 0.01856897 -0.10426812 2.80606232] [-0.02189066 0.99928571 -0.03080361 -0.07192091] [ 0.10362165 0.03291286 0.99407208 -0.03991519] [ 0. 0. 0. 1. ]] SLAMing on 42.25538475 meters Centerline goodness : 0.932103 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 0.9942811 0.02178676 -0.10454869 2.80808313] [-0.0248298 0.99930247 -0.02789364 -0.06922171] [ 0.10386805 0.03033004 0.99412852 -0.04085328] [ 0. 0. 0. 1. ]] SLAMing on 42.28538475 meters Centerline goodness : 0.929989 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 0.99415318 0.02562048 -0.10489544 2.8092802 ] [-0.02828057 0.99931305 -0.02395086 -0.06883692] [ 0.10420975 0.02677732 0.9941948 -0.04077646] [ 0. 0. 0. 1. ]] SLAMing on 42.31538475 meters Centerline goodness : 0.927326 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 0.99389529 0.03360642 -0.1050845 2.81001102] [-0.03545161 0.99924743 -0.01574034 -0.0683534 ] [ 0.10447644 0.01936966 0.99433872 -0.03958057] [ 0. 0. 0. 1. ]] SLAMing on 42.34538475 meters Centerline goodness : 0.926853 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 0.99388963 0.03414698 -0.10496379 2.80945182] [-0.03600532 0.99922573 -0.01586042 -0.0665642 ] [ 0.10434093 0.01954276 0.99434956 -0.03947757] [ 0. 0. 0. 1. ]] SLAMing on 42.37538475 meters Centerline goodness : 0.924118 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 0.99370432 0.03845328 -0.10522869 2.81038879] [-0.03995343 0.99912725 -0.01218472 -0.06497757] [ 0.10466831 0.01631225 0.9943734 -0.03953693] [ 0. 0. 0. 1. ]] SLAMing on 42.40538475 meters Centerline goodness : 0.923015 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 0.99351997 0.04253785 -0.10539738 2.81125827] [-0.04364825 0.99901289 -0.00825021 -0.06482695] [ 0.1049424 0.01279716 0.99439596 -0.03952056] [ 0. 0. 0. 1. ]] SLAMing on 42.435384750000004 meters Centerline goodness : 0.920708 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 0.99332042 0.04725922 -0.10526683 2.81054713] [-0.04797114 0.99883972 -0.00423994 -0.06365343] [ 0.10494431 0.00926139 0.99443497 -0.03858722] [ 0. 0. 0. 1. ]] SLAMing on 42.46538475 meters Centerline goodness : 0.921696 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 9.93102231e-01 5.18070733e-02 -1.05185483e-01 2.81003421e+00] [-5.21360331e-02 9.98639921e-01 -3.78372514e-04 -6.17823189e-02] [ 1.05022820e-01 5.85971641e-03 9.94452548e-01 -3.76619455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49538475 meters Centerline goodness : 0.918084 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 9.93122389e-01 5.19915584e-02 -1.04903754e-01 2.80966370e+00] [-5.23677498e-02 9.98627521e-01 -8.32989708e-04 -5.88646648e-02] [ 1.04716468e-01 6.32083428e-03 9.94482030e-01 -3.79883743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52538475 meters Centerline goodness : 0.917487 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.04 [[ 9.93113104e-01 5.19538642e-02 -1.05010283e-01 2.80996054e+00] [-5.23779918e-02 9.98626506e-01 -1.28334171e-03 -5.63844092e-02] [ 1.04799378e-01 6.77473122e-03 9.94470308e-01 -3.81552600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55538475 meters Centerline goodness : 0.913254 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93108960e-01 5.17099194e-02 -1.05169755e-01 2.81021496e+00] [-5.21908512e-02 9.98635463e-01 -1.82412444e-03 -5.43373333e-02] [ 1.04931922e-01 7.30045338e-03 9.94452611e-01 -3.80723013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58538475 meters Centerline goodness : 0.914491 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93102442e-01 5.13838798e-02 -1.05390871e-01 2.81084038e+00] [-5.18915828e-02 9.98650560e-01 -2.07909229e-03 -5.43047838e-02] [ 1.05141820e-01 7.53365074e-03 9.94428701e-01 -3.82666977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615384750000004 meters Centerline goodness : 0.914491 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93102442e-01 5.13838798e-02 -1.05390871e-01 2.81084038e+00] [-5.18915828e-02 9.98650560e-01 -2.07909229e-03 -5.43047838e-02] [ 1.05141820e-01 7.53365074e-03 9.94428701e-01 -3.82666977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64538475 meters Centerline goodness : 0.913061 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 0.99311343 0.05007098 -0.10591791 2.81265956] [-0.05065597 0.99871213 -0.00283834 -0.0541111 ] [ 0.10563939 0.00818417 0.99437083 -0.03875121] [ 0. 0. 0. 1. ]] SLAMing on 42.67538475 meters Centerline goodness : 0.913355 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 0.99315326 0.04854556 -0.10625411 2.81450979] [-0.04924051 0.99877924 -0.00392523 -0.0523687 ] [ 0.10593384 0.00913037 0.99433126 -0.03962264] [ 0. 0. 0. 1. ]] SLAMing on 42.70538475 meters Centerline goodness : 0.913454 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 0.99315473 0.04830691 -0.10634909 2.81473564] [-0.0490272 0.99878875 -0.00416737 -0.05125498] [ 0.10601897 0.00935284 0.99432012 -0.03953517] [ 0. 0. 0. 1. ]] SLAMing on 42.73538475 meters Centerline goodness : 0.914336 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 0.99319043 0.04860398 -0.10587932 2.81293404] [-0.04932428 0.99877401 -0.0041936 -0.04876122] [ 0.10554568 0.00938746 0.99437014 -0.03838064] [ 0. 0. 0. 1. ]] SLAMing on 42.76538475 meters Centerline goodness : 0.912802 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 0.9931961 0.0488589 -0.10570863 2.81204467] [-0.04957302 0.99876193 -0.00413706 -0.04794784] [ 0.10537563 0.00934921 0.99438854 -0.03777741] [ 0. 0. 0. 1. ]] SLAMing on 42.795384750000004 meters Centerline goodness : 0.916597 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93025001e-01 5.21289477e-02 -1.05754053e-01 2.81234064e+00] [-5.24045471e-02 9.98625923e-01 1.72977082e-04 -4.89918251e-02] [ 1.05617756e-01 5.37022267e-03 9.94392302e-01 -3.63394552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82538475 meters Centerline goodness : 0.916673 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93036404e-01 5.22061137e-02 -1.05608813e-01 2.81176965e+00] [-5.24661946e-02 9.98622651e-01 3.15943692e-04 -4.89062261e-02] [ 1.05479847e-01 5.22714896e-03 9.94407702e-01 -3.59562645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85538475 meters Centerline goodness : 0.916032 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93066702e-01 5.17890682e-02 -1.05529225e-01 2.81143594e+00] [-5.20228550e-02 9.98645750e-01 5.37934729e-04 -4.93498978e-02] [ 1.05414171e-01 4.95572649e-03 9.94416056e-01 -3.52912224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88538475 meters Centerline goodness : 0.913832 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93059093e-01 5.15985550e-02 -1.05694025e-01 2.81200169e+00] [-5.18199067e-02 9.98656233e-01 6.52724509e-04 -4.95538342e-02] [ 1.05585676e-01 4.82886049e-03 9.94398485e-01 -3.53752899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91538475 meters Centerline goodness : 0.914384 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.04 [[ 9.93056907e-01 5.05379892e-02 -1.06225659e-01 2.81448239e+00] [-5.08298011e-02 9.98707329e-01 -3.97722255e-05 -4.86374209e-02] [ 1.06086334e-01 5.43892518e-03 9.94342048e-01 -3.66669765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94538475 meters Centerline goodness : 0.913512 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.04 [[ 9.93045189e-01 5.01144645e-02 -1.06535405e-01 2.81553241e+00] [-5.04498929e-02 9.98726490e-01 -4.54123199e-04 -4.75069592e-02] [ 1.06376973e-01 5.82566462e-03 9.94308806e-01 -3.70611037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97538475 meters Centerline goodness : 0.908921 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.04 [[ 9.93051153e-01 4.89375889e-02 -1.07025792e-01 2.81777408e+00] [-4.93932984e-02 9.98778109e-01 -1.60969993e-03 -4.48369897e-02] [ 1.06816243e-01 6.88487126e-03 9.94254942e-01 -3.82600188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00538475 meters Centerline goodness : 0.908427 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.04 [[ 9.93043454e-01 4.85248833e-02 -1.07284825e-01 2.81869034e+00] [-4.90287566e-02 9.98795238e-01 -2.06239214e-03 -4.36373618e-02] [ 1.07055495e-01 7.30808659e-03 9.94226188e-01 -3.86384266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03538475 meters Centerline goodness : 0.906835 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.04 [[ 9.92864180e-01 5.09205668e-02 -1.07832348e-01 2.82127854e+00] [-5.11297865e-02 9.98691676e-01 8.25472410e-04 -4.25754050e-02] [ 1.07733302e-01 4.69386293e-03 9.94168750e-01 -3.90902676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06538475 meters Centerline goodness : 0.906671 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.04 [[ 9.92646635e-01 5.39094790e-02 -1.08380931e-01 2.82358888e+00] [-5.37630868e-02 9.98544571e-01 4.27446366e-03 -4.26543053e-02] [ 1.08453624e-01 1.58386141e-03 9.94100248e-01 -3.94313757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09538475 meters Centerline goodness : 0.898979 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.04 [[ 9.92437070e-01 5.71728240e-02 -1.08627483e-01 2.82551306e+00] [-5.67480648e-02 9.98363989e-01 7.00012059e-03 -3.99234677e-02] [ 1.08849984e-01 -7.82779701e-04 9.94057880e-01 -4.03374810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12538475 meters Centerline goodness : 0.899680 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.04 [[ 0.99218021 0.06098884 -0.10889812 2.82656343] [-0.06016372 0.99812956 0.01084971 -0.03969834] [ 0.10935614 -0.00421315 0.9939937 -0.03999704] [ 0. 0. 0. 1. ]] SLAMing on 43.15538475 meters Centerline goodness : 0.897108 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.04 [[ 0.99190343 0.0648857 -0.10916698 2.82787704] [-0.06377709 0.99787122 0.01362 -0.03669634] [ 0.10981833 -0.00654738 0.99393011 -0.04043824] [ 0. 0. 0. 1. ]] SLAMing on 43.185384750000004 meters Centerline goodness : 0.897772 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.04 [[ 0.9918658 0.06560882 -0.1090767 2.82731153] [-0.06454782 0.99782687 0.01323351 -0.03404763] [ 0.1097079 -0.0060852 0.99394524 -0.04035305] [ 0. 0. 0. 1. ]] SLAMing on 43.21538475 meters Centerline goodness : 0.895227 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.04 [[ 0.99154246 0.07082551 -0.10875336 2.82676933] [-0.06944059 0.99745005 0.01647409 -0.0304067 ] [ 0.10964283 -0.00878286 0.99393225 -0.04030969] [ 0. 0. 0. 1. ]] SLAMing on 43.24538475 meters Centerline goodness : 0.894320 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.04 [[ 0.99122956 0.07515997 -0.10869654 2.82741166] [-0.07341333 0.99710128 0.01998815 -0.02897618] [ 0.10988377 -0.01183307 0.993874 -0.04051111] [ 0. 0. 0. 1. ]] SLAMing on 43.27538475 meters Centerline goodness : 0.892818 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.04 [[ 0.9905147 0.08445025 -0.10839184 2.82795689] [-0.08192362 0.99625739 0.02756323 -0.02628022] [ 0.11031389 -0.01842193 0.99372606 -0.04052019] [ 0. 0. 0. 1. ]] SLAMing on 43.30538475 meters Centerline goodness : 0.889997 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.04 [[ 0.99040074 0.08554051 -0.10857809 2.8277927 ] [-0.08302319 0.99616796 0.02750544 -0.02448068] [ 0.11051484 -0.01822691 0.99370733 -0.04044033] [ 0. 0. 0. 1. ]] SLAMing on 43.33538475 meters Centerline goodness : 0.889476 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.04 [[ 0.98995651 0.09224564 -0.10713007 2.83428197] [-0.09073456 0.99569565 0.01890516 -0.02450118] [ 0.10841287 -0.00899489 0.99406526 -0.04273094] [ 0. 0. 0. 1. ]] SLAMing on 43.365384750000004 meters Centerline goodness : 0.891228 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.04 [[ 0.98990179 0.0930095 -0.10697509 2.83353605] [-0.09147259 0.99562256 0.01919589 -0.02459245] [ 0.10829221 -0.00921675 0.99407638 -0.042463 ] [ 0. 0. 0. 1. ]] SLAMing on 43.39538475 meters Centerline goodness : 0.893499 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.04 [[ 0.98978248 0.09484822 -0.10646339 2.83121613] [-0.09317446 0.99543671 0.02059816 -0.02672168] [ 0.10793126 -0.01046803 0.99410325 -0.0413159 ] [ 0. 0. 0. 1. ]] SLAMing on 43.42538475 meters Centerline goodness : 0.898877 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.04 [[ 9.90093817e-01 9.70037409e-02 -1.01511120e-01 2.83771357e+00] [-9.64278139e-02 9.95283782e-01 1.05768481e-02 -3.06374489e-02] [ 1.02058365e-01 -6.83576510e-04 9.94778178e-01 -4.42643740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45538475 meters Centerline goodness : 0.897057 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.04 [[ 9.90299069e-01 9.52806819e-02 -1.01140223e-01 2.83514665e+00] [-9.49265784e-02 9.95449514e-01 8.31920507e-03 -3.19854752e-02] [ 1.01472645e-01 1.36239425e-03 9.94837397e-01 -4.35375169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48538475 meters Centerline goodness : 0.903607 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.04 [[ 9.90224278e-01 9.64543376e-02 -1.00759321e-01 2.83368228e+00] [-9.59692319e-02 9.95337405e-01 9.66210164e-03 -3.54498741e-02] [ 1.01221473e-01 1.02147046e-04 9.94863912e-01 -4.29262745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51538475 meters Centerline goodness : 0.907611 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.05 [[ 9.90447826e-01 1.00201289e-01 -9.47248998e-02 2.83906877e+00] [-1.00468437e-01 9.94938322e-01 1.95679267e-03 -4.28062508e-02] [ 9.44415060e-02 7.57876160e-03 9.95501564e-01 -4.55812408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545384750000004 meters Centerline goodness : 0.909662 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.04 [[ 0.99034506 0.10184621 -0.09404261 2.83680228] [-0.10195582 0.99478223 0.00365108 -0.04646618] [ 0.09392376 0.00597237 0.99556148 -0.04481749] [ 0. 0. 0. 1. ]] SLAMing on 43.57538475 meters Centerline goodness : 0.908137 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.05 [[ 0.99021459 0.10453031 -0.09245803 2.83455408] [-0.10444248 0.99451401 0.00580149 -0.05357854] [ 0.09255724 0.00391183 0.99569968 -0.04663866] [ 0. 0. 0. 1. ]] SLAMing on 43.60538475 meters Centerline goodness : 0.909114 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.06, Z:-0.05 [[ 9.90120917e-01 1.05550093e-01 -9.23024799e-02 2.83445824e+00] [-1.05357892e-01 9.94409968e-01 6.96636300e-03 -5.82072497e-02] [ 9.25218063e-02 2.82725294e-03 9.95706645e-01 -4.73484276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63538475 meters Centerline goodness : 0.909275 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.07, Z:-0.05 [[ 0.99027275 0.10512004 -0.0911573 2.83268475] [-0.10499687 0.99445348 0.00615907 -0.06780689] [ 0.09129914 0.00347207 0.99581746 -0.04984998] [ 0. 0. 0. 1. ]] SLAMing on 43.66538475 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.05 [[ 9.90129619e-01 1.07013586e-01 -9.05065183e-02 2.83441114e+00] [-1.06678610e-01 9.94256840e-01 8.54455830e-03 -7.76857048e-02] [ 9.09011087e-02 1.19488935e-03 9.95859207e-01 -5.35901540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69538475 meters Centerline goodness : 0.903673 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.06 [[ 9.90057975e-01 1.07608569e-01 -9.05847770e-02 2.83552632e+00] [-1.07187423e-01 9.94193297e-01 9.51545739e-03 -8.26059398e-02] [ 9.10827228e-02 2.88694305e-04 9.95843288e-01 -5.50573254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72538475 meters Centerline goodness : 0.904856 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.06 [[ 9.90282333e-01 1.05943721e-01 -9.00934461e-02 2.83516492e+00] [-1.05669221e-01 9.94370550e-01 7.82469290e-03 -8.72092236e-02] [ 9.04152466e-02 1.77144913e-03 9.95902578e-01 -5.67919055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75538475 meters Centerline goodness : 0.902672 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.10, Z:-0.06 [[ 9.90459289e-01 1.04872657e-01 -8.93986681e-02 2.83454963e+00] [-1.04670635e-01 9.94482602e-01 6.95793450e-03 -9.79815744e-02] [ 8.96351171e-02 2.46586452e-03 9.95971619e-01 -5.95247753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78538475 meters Centerline goodness : 0.905919 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.10, Z:-0.06 [[ 0.99067597 0.10334664 -0.0887727 2.83388018] [-0.10327417 0.99463815 0.00542146 -0.10269035] [ 0.088857 0.00379701 0.99603716 -0.06123155] [ 0. 0. 0. 1. ]] SLAMing on 43.81538475 meters Centerline goodness : 0.903281 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:-0.06 [[ 0.9908755 0.10218127 -0.08789041 2.83288783] [-0.10213147 0.99475796 0.00507519 -0.111854 ] [ 0.08794828 0.0039475 0.99611722 -0.06305324] [ 0. 0. 0. 1. ]] SLAMing on 43.84538475 meters Centerline goodness : 0.908281 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.12, Z:-0.06 [[ 9.91093371e-01 1.00592520e-01 -8.72643949e-02 2.82848368e+00] [-1.00446845e-01 9.94923909e-01 6.07007213e-03 -1.23968166e-01] [ 8.74320368e-02 2.74942493e-03 9.96166693e-01 -5.93825917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87538475 meters Centerline goodness : 0.908415 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.13, Z:-0.06 [[ 0.99137516 0.09814928 -0.08684472 2.82535409] [-0.09817584 0.99516114 0.00397564 -0.12872071] [ 0.08681469 0.0045847 0.99621393 -0.05823778] [ 0. 0. 0. 1. ]] SLAMing on 43.90538475 meters Centerline goodness : 0.913788 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.14, Z:-0.06 [[ 0.99162453 0.09566442 -0.08677041 2.82322339] [-0.09574626 0.99540054 0.00322778 -0.13739864] [ 0.08668009 0.00510719 0.99622311 -0.05652728] [ 0. 0. 0. 1. ]] SLAMing on 43.935384750000004 meters Centerline goodness : 0.913939 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.14, Z:-0.06 [[ 9.91937736e-01 9.24883576e-02 -8.66338995e-02 2.82174492e+00] [-9.28257510e-02 9.95682360e-01 1.34599663e-04 -1.39789073e-01] [ 8.62722944e-02 7.90834230e-03 9.96240207e-01 -5.65572266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96538475 meters Centerline goodness : 0.914925 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.14, Z:-0.06 [[ 0.99225797 0.08919475 -0.08642001 2.82024051] [-0.08979513 0.9959555 -0.00307728 -0.1420837 ] [ 0.08579601 0.01081355 0.99625404 -0.05671219] [ 0. 0. 0. 1. ]] SLAMing on 43.99538475 meters Centerline goodness : 0.912580 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:-0.06 [[ 0.99257671 0.08561185 -0.08638331 2.82010266] [-0.0864366 0.9962402 -0.00584589 -0.14711017] [ 0.08555805 0.01326918 0.99624482 -0.05773068] [ 0. 0. 0. 1. ]] SLAMing on 44.02538475 meters Centerline goodness : 0.910852 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:-0.06 [[ 0.99291637 0.08117254 -0.08676466 2.82175698] [-0.08227782 0.99656666 -0.00923351 -0.15131879] [ 0.08571726 0.01630691 0.99618605 -0.05946866] [ 0. 0. 0. 1. ]] SLAMing on 44.05538475 meters Centerline goodness : 0.910946 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:-0.06 [[ 0.99291929 0.08049514 -0.08736025 2.82326696] [-0.08155172 0.99663211 -0.00858783 -0.15518626] [ 0.08637476 0.0156514 0.99613977 -0.05923978] [ 0. 0. 0. 1. ]] SLAMing on 44.08538475 meters Centerline goodness : 0.909170 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:-0.06 [[ 0.99321522 0.07582239 -0.08817313 2.82445861] [-0.07708744 0.99696336 -0.01102684 -0.1613917 ] [ 0.08706929 0.01774907 0.99604413 -0.05852451] [ 0. 0. 0. 1. ]] SLAMing on 44.115384750000004 meters Centerline goodness : 0.909557 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.17, Z:-0.06 [[ 0.99319561 0.07532119 -0.08882115 2.82576708] [-0.07649984 0.99702008 -0.00993644 -0.16525488] [ 0.08780804 0.01666363 0.99599803 -0.05760064] [ 0. 0. 0. 1. ]] SLAMing on 44.14538475 meters Centerline goodness : 0.909931 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.17, Z:-0.06 [[ 0.99315703 0.07484423 -0.08965187 2.82740796] [-0.07591792 0.99707679 -0.00862186 -0.16915875] [ 0.08874451 0.01536905 0.99593584 -0.05639987] [ 0. 0. 0. 1. ]] SLAMing on 44.17538475 meters Centerline goodness : 0.905463 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.17, Z:-0.06 [[ 0.99343212 0.07037712 -0.09022019 2.82846814] [-0.07169372 0.99736117 -0.01143242 -0.17400005] [ 0.08917754 0.01782556 0.99585622 -0.05634041] [ 0. 0. 0. 1. ]] SLAMing on 44.20538475 meters Centerline goodness : 0.902040 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.18, Z:-0.05 [[ 0.99348193 0.06850741 -0.09110648 2.83170137] [-0.06963531 0.99752958 -0.00925568 -0.18048946] [ 0.09024732 0.01553958 0.99579814 -0.05425002] [ 0. 0. 0. 1. ]] SLAMing on 44.23538475 meters Centerline goodness : 0.902202 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.18, Z:-0.05 [[ 0.99347092 0.06798289 -0.09161804 2.83282704] [-0.06900743 0.9975836 -0.00805806 -0.18386779] [ 0.09084884 0.01432777 0.99576162 -0.05304163] [ 0. 0. 0. 1. ]] SLAMing on 44.26538475 meters Centerline goodness : 0.900832 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.19, Z:-0.05 [[ 0.99374794 0.06282036 -0.09229648 2.83403208] [-0.06401755 0.99789801 -0.01006542 -0.18858743] [ 0.09147016 0.01591109 0.9956807 -0.05093773] [ 0. 0. 0. 1. ]] SLAMing on 44.295384750000004 meters Centerline goodness : 0.902406 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.19, Z:-0.05 [[ 0.99397991 0.05830346 -0.09276121 2.83452934] [-0.05980168 0.99811963 -0.01345223 -0.19068284] [ 0.09180247 0.01891852 0.99559751 -0.05056221] [ 0. 0. 0. 1. ]] SLAMing on 44.32538475 meters Centerline goodness : 0.905271 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.05 [[ 0.99419476 0.05350211 -0.09335039 2.83560966] [-0.05530609 0.99832736 -0.01684413 -0.19291931] [ 0.09229305 0.02190919 0.99549082 -0.05022176] [ 0. 0. 0. 1. ]] SLAMing on 44.35538475 meters Centerline goodness : 0.904974 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.05 [[ 0.99457078 0.0435226 -0.0945238 2.84242106] [-0.0457796 0.99871277 -0.02184081 -0.19691034] [ 0.09345155 0.0260495 0.99528299 -0.05058064] [ 0. 0. 0. 1. ]] SLAMing on 44.38538475 meters Centerline goodness : 0.904938 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.20, Z:-0.05 [[ 0.99457574 0.04103347 -0.09557901 2.84665918] [-0.04325658 0.99883683 -0.02130389 -0.19961776] [ 0.09459366 0.02532276 0.99519385 -0.04987064] [ 0. 0. 0. 1. ]] SLAMing on 44.41538475 meters Centerline goodness : 0.909368 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.20, Z:-0.05 [[ 0.99476792 0.03311694 -0.09664396 2.85781381] [-0.03512461 0.99919951 -0.01914659 -0.20253854] [ 0.09593252 0.022441 0.99513484 -0.04506117] [ 0. 0. 0. 1. ]] SLAMing on 44.44538475 meters Centerline goodness : 0.912138 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.20, Z:-0.04 [[ 0.99475374 0.02924707 -0.09802855 2.86344963] [-0.03111928 0.99936029 -0.01762411 -0.20447163] [ 0.09745039 0.02058223 0.99502753 -0.04157284] [ 0. 0. 0. 1. ]] SLAMing on 44.47538475 meters Centerline goodness : 0.912335 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.04 [[ 0.99469664 0.02796254 -0.09897826 2.86609307] [-0.02985731 0.9993972 -0.01771379 -0.20418923] [ 0.09842328 0.02057507 0.99493192 -0.04104689] [ 0. 0. 0. 1. ]] SLAMing on 44.50538475 meters Centerline goodness : 0.912335 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.04 [[ 0.99469664 0.02796254 -0.09897826 2.86609307] [-0.02985731 0.9993972 -0.01771379 -0.20418923] [ 0.09842328 0.02057507 0.99493192 -0.04104689] [ 0. 0. 0. 1. ]] SLAMing on 44.53538475 meters Centerline goodness : 0.915224 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.04 [[ 0.99465934 0.02701957 -0.09961295 2.86811504] [-0.02898314 0.99941205 -0.01831758 -0.20287024] [ 0.09905945 0.02110685 0.99485764 -0.04135384] [ 0. 0. 0. 1. ]] SLAMing on 44.56538475 meters Centerline goodness : 0.911266 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.04 [[ 0.9944859 0.02975002 -0.10056205 2.87130628] [-0.03148538 0.99938069 -0.01571343 -0.19888152] [ 0.10003229 0.01879302 0.9948067 -0.04163982] [ 0. 0. 0. 1. ]] SLAMing on 44.59538475 meters Centerline goodness : 0.911789 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.04 [[ 0.99412021 0.03758501 -0.10154983 2.87238201] [-0.03861731 0.99922028 -0.00821811 -0.19546964] [ 0.10116178 0.01209138 0.99479651 -0.03904193] [ 0. 0. 0. 1. ]] SLAMing on 44.62538475 meters Centerline goodness : 0.911006 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.19, Z:-0.04 [[ 0.99393394 0.04215958 -0.10157707 2.87190242] [-0.04281972 0.99907345 -0.00432631 -0.19338145] [ 0.10130055 0.00864957 0.99481827 -0.0379621 ] [ 0. 0. 0. 1. ]] SLAMing on 44.65538475 meters Centerline goodness : 0.908999 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.19, Z:-0.04 [[ 9.93737656e-01 4.66933049e-02 -1.01514560e-01 2.87164836e+00] [-4.69978199e-02 9.98894806e-01 -6.08815701e-04 -1.91175096e-01] [ 1.01373939e-01 5.37596611e-03 9.94833867e-01 -3.74333389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685384750000004 meters Centerline goodness : 0.906719 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.19, Z:-0.04 [[ 9.93305121e-01 5.43903139e-02 -1.01914817e-01 2.87411096e+00] [-5.40367204e-02 9.98519520e-01 6.22911387e-03 -1.87160720e-01] [ 1.02102738e-01 -6.80268223e-04 9.94773627e-01 -3.78108938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters Centerline goodness : 0.906931 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.04 [[ 9.93278156e-01 5.47300168e-02 -1.01995733e-01 2.87446680e+00] [-5.44322435e-02 9.98501183e-01 5.70247421e-03 -1.83914924e-01] [ 1.02154956e-01 -1.12286511e-04 9.94768492e-01 -3.84533223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74538475 meters Centerline goodness : 0.907873 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.04 [[ 9.93253390e-01 5.53372683e-02 -1.01909229e-01 2.87375956e+00] [-5.50732523e-02 9.98467690e-01 5.40461221e-03 -1.80168761e-01] [ 1.02052149e-01 2.44323284e-04 9.94779020e-01 -3.81832898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters Centerline goodness : 0.908774 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.04 [[ 9.93234450e-01 5.57898317e-02 -1.01847048e-01 2.87184611e+00] [-5.54234770e-02 9.98442262e-01 6.42550820e-03 -1.80361041e-01] [ 1.02046875e-01 -7.37318566e-04 9.94779318e-01 -3.53196651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80538475 meters Centerline goodness : 0.911771 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.03 [[ 9.93237767e-01 5.59612747e-02 -1.01720568e-01 2.87084626e+00] [-5.55519334e-02 9.98432269e-01 6.85470160e-03 -1.80363559e-01] [ 1.01944696e-01 -1.15757427e-03 9.94789394e-01 -3.40601587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters Centerline goodness : 0.912732 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.03 [[ 9.93238624e-01 5.60106259e-02 -1.01685034e-01 2.87034400e+00] [-5.55975896e-02 9.98429459e-01 6.89369416e-03 -1.79454294e-01] [ 1.01911454e-01 -1.19364052e-03 9.94792758e-01 -3.34246500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865384750000004 meters Centerline goodness : 0.909489 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.03 [[ 0.99301151 0.05860296 -0.10243942 2.87366023] [-0.05787782 0.99827319 0.01003932 -0.17743567] [ 0.10285086 -0.00404019 0.99468858 -0.03357481] [ 0. 0. 0. 1. ]] SLAMing on 44.89538475 meters Centerline goodness : 0.908882 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.18, Z:-0.03 [[ 0.99300409 0.05849727 -0.10257165 2.87442427] [-0.05784556 0.99828204 0.00931936 -0.17541179] [ 0.10294059 -0.00332085 0.99468196 -0.03448022] [ 0. 0. 0. 1. ]] SLAMing on 44.92538475 meters Centerline goodness : 0.910291 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:-0.03 [[ 0.99273899 0.06286961 -0.10255105 2.8745864 ] [-0.06182044 0.9979976 0.01338027 -0.17461713] [ 0.10318691 -0.00694337 0.99463775 -0.03375865] [ 0. 0. 0. 1. ]] SLAMing on 44.95538475 meters Centerline goodness : 0.910181 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:-0.03 [[ 0.99273055 0.0633828 -0.10231657 2.87386829] [-0.06237105 0.99796757 0.01306076 -0.17302055] [ 0.10293645 -0.00658422 0.99466614 -0.03402261] [ 0. 0. 0. 1. ]] SLAMing on 44.98538475 meters Centerline goodness : 0.911170 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:-0.03 [[ 0.99268183 0.06519217 -0.10165019 2.87183849] [-0.06419602 0.99785206 0.01304397 -0.17011584] [ 0.10228221 -0.00642298 0.99473469 -0.03446292] [ 0. 0. 0. 1. ]] SLAMing on 45.01538475 meters Centerline goodness : 0.907280 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:-0.03 [[ 0.99268087 0.06604409 -0.10110816 2.87051686] [-0.06508871 0.99779837 0.01272272 -0.16838419] [ 0.10172582 -0.0060486 0.99479409 -0.03494929] [ 0. 0. 0. 1. ]] SLAMing on 45.045384750000004 meters Centerline goodness : 0.906436 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:-0.04 [[ 0.99236377 0.07162692 -0.10041782 2.86914655] [-0.07033361 0.99738927 0.01636559 -0.16627389] [ 0.10132787 -0.00917787 0.99481075 -0.03545522] [ 0. 0. 0. 1. ]] SLAMing on 45.07538475 meters Centerline goodness : 0.906944 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:-0.04 [[ 0.99233166 0.07302713 -0.09972424 2.867244 ] [-0.07176124 0.99728983 0.01622737 -0.16444251] [ 0.100639 -0.0089466 0.99488278 -0.03598619] [ 0. 0. 0. 1. ]] SLAMing on 45.10538475 meters Centerline goodness : 0.905432 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.16, Z:-0.04 [[ 0.99230521 0.07441232 -0.09896048 2.86498851] [-0.07315446 0.99718767 0.01628421 -0.16338076] [ 0.09989391 -0.0089195 0.99495811 -0.03612852] [ 0. 0. 0. 1. ]] SLAMing on 45.13538475 meters Centerline goodness : 0.907038 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.16, Z:-0.04 [[ 0.99218014 0.07773677 -0.09765023 2.86008858] [-0.07639392 0.9969255 0.01742178 -0.16393916] [ 0.09870431 -0.00982566 0.9950683 -0.03549972] [ 0. 0. 0. 1. ]] SLAMing on 45.16538475 meters Centerline goodness : 0.910608 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.17, Z:-0.04 [[ 0.99213926 0.08000444 -0.0962236 2.85638132] [-0.07861191 0.99673946 0.01818288 -0.16524359] [ 0.09736457 -0.01047563 0.99519365 -0.03586793] [ 0. 0. 0. 1. ]] SLAMing on 45.19538475 meters Centerline goodness : 0.910295 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.17, Z:-0.04 [[ 0.99212287 0.08059165 -0.095902 2.85583548] [-0.07918549 0.99669034 0.01838532 -0.16632488] [ 0.0970663 -0.01064645 0.99522097 -0.03645883] [ 0. 0. 0. 1. ]] SLAMing on 45.22538475 meters Centerline goodness : 0.907858 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:-0.04 [[ 0.99210765 0.08173448 -0.09508879 2.85482286] [-0.0802884 0.99659168 0.01894194 -0.16884382] [ 0.0963129 -0.01115791 0.99528856 -0.03785927] [ 0. 0. 0. 1. ]] SLAMing on 45.25538475 meters Centerline goodness : 0.908939 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:-0.04 [[ 0.9920753 0.08234087 -0.09490304 2.85439407] [-0.080835 0.99653456 0.01961065 -0.17108674] [ 0.09618892 -0.01178375 0.99529334 -0.03797008] [ 0. 0. 0. 1. ]] SLAMing on 45.28538475 meters Centerline goodness : 0.909003 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:-0.04 [[ 0.99232824 0.08013954 -0.09413989 2.85208345] [-0.07886552 0.99673717 0.01718272 -0.17601359] [ 0.09520974 -0.0096265 0.99541069 -0.03874142] [ 0. 0. 0. 1. ]] SLAMing on 45.31538475 meters Centerline goodness : 0.905908 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:-0.04 [[ 0.9926073 0.0770538 -0.09377346 2.85074904] [-0.07609423 0.99700553 0.01377119 -0.17786892] [ 0.09455378 -0.00653376 0.99549831 -0.03960595] [ 0. 0. 0. 1. ]] SLAMing on 45.34538475 meters Centerline goodness : 0.907882 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:-0.04 [[ 0.99289431 0.07405351 -0.09315024 2.8496549 ] [-0.07335643 0.99724633 0.01089005 -0.18234621] [ 0.09370018 -0.0039795 0.99559251 -0.04100945] [ 0. 0. 0. 1. ]] SLAMing on 45.37538475 meters Centerline goodness : 0.905645 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:-0.04 [[ 0.99287177 0.07409481 -0.09335743 2.85042593] [-0.0733428 0.99724088 0.01146541 -0.18494234] [ 0.09394937 -0.00453659 0.99556664 -0.0412085 ] [ 0. 0. 0. 1. ]] SLAMing on 45.40538475 meters Centerline goodness : 0.909546 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:-0.04 [[ 0.99285022 0.07503892 -0.09283106 2.84948131] [-0.07418696 0.99716475 0.01259953 -0.18979808] [ 0.09351331 -0.0056226 0.99560215 -0.04164969] [ 0. 0. 0. 1. ]] SLAMing on 45.435384750000004 meters Centerline goodness : 0.912013 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:-0.04 [[ 0.99281426 0.07576784 -0.09262336 2.8487641 ] [-0.07484337 0.99710501 0.01341916 -0.19233489] [ 0.09337196 -0.00639049 0.99561079 -0.04147713] [ 0. 0. 0. 1. ]] SLAMing on 45.46538475 meters Centerline goodness : 0.912638 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.20, Z:-0.04 [[ 0.99276634 0.07671651 -0.09235566 2.84810785] [-0.07570822 0.99702636 0.01437713 -0.19682236] [ 0.093184 -0.00728105 0.99562228 -0.04182617] [ 0. 0. 0. 1. ]] SLAMing on 45.49538475 meters Centerline goodness : 0.913894 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.20, Z:-0.04 [[ 0.99274922 0.0771438 -0.09218357 2.84800028] [-0.07610625 0.996991 0.01472334 -0.19861472] [ 0.093042 -0.00760083 0.99563317 -0.04233935] [ 0. 0. 0. 1. ]] SLAMing on 45.52538475 meters Centerline goodness : 0.915361 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.20, Z:-0.04 [[ 0.99270689 0.07830692 -0.09165732 2.84679617] [-0.07717046 0.99689138 0.01588367 -0.20313412] [ 0.09261619 -0.00869459 0.99566392 -0.042607 ] [ 0. 0. 0. 1. ]] SLAMing on 45.55538475 meters Centerline goodness : 0.913260 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.21, Z:-0.04 [[ 0.99268799 0.07843385 -0.09175338 2.84740641] [-0.0772597 0.996878 0.01628491 -0.2057939 ] [ 0.09274422 -0.00907699 0.99564859 -0.04314431] [ 0. 0. 0. 1. ]] SLAMing on 45.58538475 meters Centerline goodness : 0.913388 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.21, Z:-0.05 [[ 0.993 0.07528377 -0.09101297 2.84714546] [-0.07441959 0.99714414 0.01285659 -0.21003239] [ 0.09172094 -0.00599345 0.99576671 -0.04601577] [ 0. 0. 0. 1. ]] SLAMing on 45.615384750000004 meters Centerline goodness : 0.912798 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.21, Z:-0.05 [[ 9.93295011e-01 7.15589668e-02 -9.07983183e-02 2.84690786e+00] [-7.10434811e-02 9.97433507e-01 8.90078011e-03 -2.11486218e-01] [ 9.12022156e-02 -2.39047187e-03 9.95829524e-01 -4.76744366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64538475 meters Centerline goodness : 0.914117 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.22, Z:-0.05 [[ 9.93449744e-01 6.89358950e-02 -9.11342322e-02 2.84973449e+00] [-6.85103801e-02 9.97619966e-01 7.79296305e-03 -2.17793900e-01] [ 9.14545446e-02 -1.49827626e-03 9.95808125e-01 -4.93889375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67538475 meters Centerline goodness : 0.916338 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.22, Z:-0.05 [[ 9.93415024e-01 6.87935274e-02 -9.16189990e-02 2.85115727e+00] [-6.82955718e-02 9.97628383e-01 8.56294438e-03 -2.21866716e-01] [ 9.19907890e-02 -2.24938567e-03 9.95757317e-01 -4.95049498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70538475 meters Centerline goodness : 0.913276 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.23, Z:-0.05 [[ 9.93670288e-01 6.46588782e-02 -9.18617885e-02 2.85214849e+00] [-6.43805653e-02 9.97907424e-01 5.99291391e-03 -2.28396511e-01] [ 9.20570559e-02 -4.08666206e-05 9.95753733e-01 -5.00878935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73538475 meters Centerline goodness : 0.915099 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.23, Z:-0.05 [[ 9.93934252e-01 6.00556754e-02 -9.21304404e-02 2.85280704e+00] [-6.00978307e-02 9.98189798e-01 2.31921224e-03 -2.30622392e-01] [ 9.21029475e-02 3.23169512e-03 9.95744246e-01 -5.04899865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76538475 meters Centerline goodness : 0.915694 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.23, Z:-0.05 [[ 9.94193102e-01 5.50753876e-02 -9.24487793e-02 2.85461032e+00] [-5.54052547e-02 9.98463445e-01 -1.00337598e-03 -2.34782418e-01] [ 9.22514654e-02 6.11969765e-03 9.95716936e-01 -5.13489700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795384750000004 meters Centerline goodness : 0.912372 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.24, Z:-0.05 [[ 9.94184630e-01 5.44310594e-02 -9.29203001e-02 2.85660972e+00] [-5.47227506e-02 9.98501412e-01 -5.92203959e-04 -2.37321664e-01] [ 9.27488165e-02 5.67361448e-03 9.95673374e-01 -5.16545333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82538475 meters Centerline goodness : 0.909220 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.24, Z:-0.05 [[ 9.94195266e-01 5.43475517e-02 -9.28553522e-02 2.85689682e+00] [-5.45023273e-02 9.98513264e-01 8.70122163e-04 -2.41563173e-01] [ 9.27645899e-02 4.19576146e-03 9.95679229e-01 -5.06698491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters Centerline goodness : 0.910790 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.24, Z:-0.05 [[ 9.94159883e-01 5.48559850e-02 -9.29351791e-02 2.85611761e+00] [-5.48663448e-02 9.98490713e-01 2.44549572e-03 -2.44353142e-01] [ 9.29290633e-02 2.66779984e-03 9.95669158e-01 -4.86361240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88538475 meters Centerline goodness : 0.909916 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.25, Z:-0.05 [[ 9.94129177e-01 5.52907540e-02 -9.30059781e-02 2.85533535e+00] [-5.51586733e-02 9.98469621e-01 3.99212779e-03 -2.47239105e-01] [ 9.30843715e-02 1.16139564e-03 9.95657547e-01 -4.65071958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91538475 meters Centerline goodness : 0.912630 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.25, Z:-0.04 [[ 9.94336466e-01 5.15128975e-02 -9.29592052e-02 2.85413681e+00] [-5.15565884e-02 9.98668204e-01 1.93307188e-03 -2.51398864e-01] [ 9.29349806e-02 2.87053562e-03 9.95668042e-01 -4.43321937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94538475 meters Centerline goodness : 0.908377 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.25, Z:-0.04 [[ 9.94577567e-01 4.61199510e-02 -9.32116585e-02 2.85548728e+00] [-4.64705739e-02 9.98918388e-01 -1.59339678e-03 -2.54946418e-01] [ 9.30373523e-02 5.91635595e-03 9.95645041e-01 -4.43239042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97538475 meters Centerline goodness : 0.909296 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.26, Z:-0.04 [[ 9.94567049e-01 4.47598276e-02 -9.39837394e-02 2.85810721e+00] [-4.50514904e-02 9.98984183e-01 -9.82809033e-04 -2.57395452e-01] [ 9.38442788e-02 5.21157702e-03 9.95573247e-01 -4.34834240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00538475 meters Centerline goodness : 0.904481 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.26, Z:-0.04 [[ 0.99474194 0.03865578 -0.09483773 2.86165182] [-0.0393228 0.99921316 -0.00517384 -0.25885751] [ 0.09456311 0.00887592 0.9954793 -0.04427557] [ 0. 0. 0. 1. ]] SLAMing on 46.03538475 meters Centerline goodness : 0.906051 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.26, Z:-0.04 [[ 0.99471107 0.03712829 -0.0957673 2.86467551] [-0.03778787 0.99927286 -0.00508235 -0.26034403] [ 0.09550897 0.00867431 0.99539077 -0.04384897] [ 0. 0. 0. 1. ]] SLAMing on 46.06538475 meters Centerline goodness : 0.907445 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.26, Z:-0.04 [[ 0.99477029 0.03372005 -0.09641068 2.86849514] [-0.03439049 0.99939442 -0.00530033 -0.2633702 ] [ 0.09617357 0.00858823 0.99532753 -0.04271035] [ 0. 0. 0. 1. ]] SLAMing on 46.09538475 meters Centerline goodness : 0.903632 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.26, Z:-0.04 [[ 0.99472185 0.03325716 -0.09706908 2.86978751] [-0.03388381 0.99941418 -0.00481402 -0.26433159] [ 0.09685211 0.00807768 0.995266 -0.04164689] [ 0. 0. 0. 1. ]] SLAMing on 46.12538475 meters Centerline goodness : 0.899840 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.26, Z:-0.04 [[ 0.99470956 0.0318096 -0.09767823 2.87315711] [-0.03251675 0.99945519 -0.00565576 -0.26390765] [ 0.09744511 0.00880202 0.99520198 -0.04331205] [ 0. 0. 0. 1. ]] SLAMing on 46.15538475 meters Centerline goodness : 0.896342 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.04 [[ 0.99468719 0.03092063 -0.09819013 2.87572437] [-0.03169541 0.99947747 -0.00634016 -0.26318526] [ 0.09794278 0.00941866 0.99514748 -0.04471449] [ 0. 0. 0. 1. ]] SLAMing on 46.185384750000004 meters Centerline goodness : 0.892625 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 0.99449386 0.03280852 -0.09952674 2.88124609] [-0.03327892 0.99944139 -0.00306941 -0.26307679] [ 0.09937044 0.00636465 0.99503015 -0.04532432] [ 0. 0. 0. 1. ]] SLAMing on 46.21538475 meters Centerline goodness : 0.890609 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 0.99447543 0.03274956 -0.09973003 2.88195671] [-0.03327354 0.99943982 -0.00359477 -0.26186782] [ 0.09955644 0.00689328 0.99500804 -0.04606436] [ 0. 0. 0. 1. ]] SLAMing on 46.24538475 meters Centerline goodness : 0.889385 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 0.99444419 0.0338243 -0.09968283 2.88067621] [-0.03437693 0.9994016 -0.00383093 -0.25955343] [ 0.0994936 0.00723643 0.99501189 -0.04603535] [ 0. 0. 0. 1. ]] SLAMing on 46.27538475 meters Centerline goodness : 0.892254 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 0.99443916 0.0341399 -0.09962544 2.88037857] [-0.03471931 0.99938874 -0.00408739 -0.25834519] [ 0.099425 0.00752359 0.99501662 -0.04632795] [ 0. 0. 0. 1. ]] SLAMing on 46.30538475 meters Centerline goodness : 0.888389 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 9.94238021e-01 3.80728470e-02 -1.00205872e-01 2.88204338e+00] [-3.82937711e-02 9.99266485e-01 -2.81452874e-04 -2.57462435e-01] [ 1.00121654e-01 4.11709189e-03 9.94966685e-01 -4.61272780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters Centerline goodness : 0.886605 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.05 [[ 9.94241431e-01 3.84135534e-02 -1.00041867e-01 2.88185081e+00] [-3.86956299e-02 9.99250656e-01 -8.79932006e-04 -2.55351821e-01] [ 9.99330997e-02 4.74604791e-03 9.94982839e-01 -4.70874329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365384750000004 meters Centerline goodness : 0.885593 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 9.94066300e-01 4.34114141e-02 -9.97378549e-02 2.88081211e+00] [-4.32878772e-02 9.99056843e-01 3.40342552e-03 -2.54103647e-01] [ 9.97915340e-02 9.34209398e-04 9.95007928e-01 -4.63077855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters Centerline goodness : 0.885593 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 9.94066300e-01 4.34114141e-02 -9.97378549e-02 2.88081211e+00] [-4.32878772e-02 9.99056843e-01 3.40342552e-03 -2.54103647e-01] [ 9.97915340e-02 9.34209398e-04 9.95007928e-01 -4.63077855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42538475 meters Centerline goodness : 0.883558 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 9.94057953e-01 4.42255186e-02 -9.94630105e-02 2.87966099e+00] [-4.41195487e-02 9.99020921e-01 3.26583780e-03 -2.52659851e-01] [ 9.95100617e-02 1.14183110e-03 9.95035901e-01 -4.64893324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters Centerline goodness : 0.885651 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 9.93804514e-01 4.91748366e-02 -9.96715824e-02 2.87937516e+00] [-4.86942374e-02 9.98787417e-01 7.25036224e-03 -2.51581273e-01] [ 9.99072577e-02 -2.35201102e-03 9.94993974e-01 -4.57639126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48538475 meters Centerline goodness : 0.883014 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 9.93780759e-01 4.97270835e-02 -9.96344321e-02 2.87912781e+00] [-4.93019834e-02 9.98761272e-01 6.72581435e-03 -2.49772447e-01] [ 9.98454673e-02 -1.77180977e-03 9.95001379e-01 -4.65615862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters Centerline goodness : 0.883430 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 0.99353657 0.05431445 -0.09967459 2.87964243] [-0.05358086 0.9985132 0.01002409 -0.24788678] [ 0.10007085 -0.00461865 0.99496959 -0.04737428] [ 0. 0. 0. 1. ]] SLAMing on 46.545384750000004 meters Centerline goodness : 0.879724 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 0.9935394 0.05446946 -0.0995617 2.87978312] [-0.053796 0.99850734 0.00943844 -0.24626916] [ 0.09992719 -0.00402144 0.99498663 -0.0483905 ] [ 0. 0. 0. 1. ]] SLAMing on 46.57538475 meters Centerline goodness : 0.884296 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 0.9935274 0.05474445 -0.09953068 2.87879363] [-0.05396507 0.99848753 0.01050805 -0.24798713] [ 0.09995541 -0.00506886 0.99497901 -0.04646599] [ 0. 0. 0. 1. ]] SLAMing on 46.60538475 meters Centerline goodness : 0.881431 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 0.99349952 0.0549788 -0.09967964 2.87864535] [-0.05415482 0.99847245 0.01095539 -0.248794 ] [ 0.10012968 -0.00548604 0.99495927 -0.04580586] [ 0. 0. 0. 1. ]] SLAMing on 46.63538475 meters Centerline goodness : 0.883285 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.05 [[ 0.99346818 0.05479762 -0.10009098 2.87933773] [-0.05392445 0.99847982 0.01141058 -0.24992595] [ 0.1005641 -0.0059387 0.99491286 -0.04506679] [ 0. 0. 0. 1. ]] SLAMing on 46.66538475 meters Centerline goodness : 0.885865 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.04 [[ 0.99368639 0.05100199 -0.09993075 2.87828319] [-0.05045741 0.9986944 0.00797111 -0.25116535] [ 0.10020683 -0.00287853 0.99496246 -0.04480365] [ 0. 0. 0. 1. ]] SLAMing on 46.69538475 meters Centerline goodness : 0.891113 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.04 [[ 0.99368006 0.04955834 -0.10071698 2.88036194] [-0.04876999 0.99875717 0.01027612 -0.25493962] [ 0.10110107 -0.00529921 0.99486205 -0.04074821] [ 0. 0. 0. 1. ]] SLAMing on 46.72538475 meters Centerline goodness : 0.887863 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.04 [[ 0.99367004 0.04888682 -0.10114309 2.88212362] [-0.04812852 0.99879184 0.00992547 -0.25507243] [ 0.10150612 -0.00499478 0.99482238 -0.04143976] [ 0. 0. 0. 1. ]] SLAMing on 46.75538475 meters Centerline goodness : 0.886693 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.04 [[ 0.99367745 0.04792658 -0.10152914 2.88495352] [-0.04726486 0.99884261 0.0089145 -0.25444531] [ 0.10183887 -0.00405938 0.99479262 -0.04370488] [ 0. 0. 0. 1. ]] SLAMing on 46.78538475 meters Centerline goodness : 0.886431 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.04 [[ 0.99367233 0.04808013 -0.10150665 2.88468444] [-0.04743055 0.99883573 0.00880468 -0.25442088] [ 0.1018118 -0.00393445 0.9947959 -0.04378436] [ 0. 0. 0. 1. ]] SLAMing on 46.81538475 meters Centerline goodness : 0.887402 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.04 [[ 0.99364924 0.04829576 -0.10163029 2.88430942] [-0.04763454 0.99882496 0.00892437 -0.25497608] [ 0.10194188 -0.00402658 0.99478221 -0.04322925] [ 0. 0. 0. 1. ]] SLAMing on 46.84538475 meters Centerline goodness : 0.885351 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.25, Z:-0.05 [[ 9.93637639e-01 4.72160977e-02 -1.02249118e-01 2.88735420e+00] [-4.66812315e-02 9.98880781e-01 7.61888136e-03 -2.53364681e-01] [ 1.02494412e-01 -2.79729255e-03 9.94729647e-01 -4.53537004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters Centerline goodness : 0.882324 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.25, Z:-0.05 [[ 9.93643781e-01 4.62794176e-02 -1.02617016e-01 2.88987666e+00] [-4.58546715e-02 9.98927003e-01 6.49551870e-03 -2.51817080e-01] [ 1.02807517e-01 -1.74876222e-03 9.94699732e-01 -4.73752297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90538475 meters Centerline goodness : 0.878382 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.25, Z:-0.05 [[ 9.93647955e-01 4.52374409e-02 -1.03040362e-01 2.89258876e+00] [-4.49295764e-02 9.98976055e-01 5.30800319e-03 -2.50235785e-01] [ 1.03174974e-01 -6.44726722e-04 9.94663013e-01 -4.94126331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters Centerline goodness : 0.882387 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.25, Z:-0.05 [[ 9.93636305e-01 4.44890137e-02 -1.03477637e-01 2.89376863e+00] [-4.41621453e-02 9.99009517e-01 5.44887946e-03 -2.50662887e-01] [ 1.03617560e-01 -8.44409994e-04 9.94616855e-01 -4.86827410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96538475 meters Centerline goodness : 0.882472 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.05 [[ 9.93602300e-01 4.39698638e-02 -1.04024611e-01 2.89502513e+00] [-4.36379652e-02 9.99032461e-01 5.46542417e-03 -2.50844706e-01] [ 1.04164277e-01 -8.91035663e-04 9.94559706e-01 -4.82366511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters Centerline goodness : 0.881141 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.05 [[ 9.93584099e-01 4.31754909e-02 -1.04529968e-01 2.89655676e+00] [-4.28599905e-02 9.99067222e-01 5.26368336e-03 -2.50299664e-01] [ 1.04659727e-01 -7.49758644e-04 9.94507808e-01 -4.79679742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02538475 meters Centerline goodness : 0.882823 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.05 [[ 9.93571114e-01 4.26832241e-02 -1.04855063e-01 2.89772988e+00] [-4.24074589e-02 9.99088583e-01 4.85904696e-03 -2.49332585e-01] [ 1.04966896e-01 -3.81171930e-04 9.94475643e-01 -4.83015317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters Centerline goodness : 0.883761 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.05 [[ 9.93591326e-01 4.25614021e-02 -1.04712964e-01 2.89759294e+00] [-4.22893509e-02 9.99093789e-01 4.81793510e-03 -2.47861943e-01] [ 1.04823130e-01 -3.58815240e-04 9.94490816e-01 -4.80134064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08538475 meters Centerline goodness : 0.885656 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.05 [[ 9.93586446e-01 4.25492158e-02 -1.04764201e-01 2.89736170e+00] [-4.22565412e-02 9.99094219e-01 5.01267487e-03 -2.47956531e-01] [ 1.04882593e-01 -5.53553041e-04 9.94484457e-01 -4.73360352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters Centerline goodness : 0.884887 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.04 [[ 9.93558771e-01 4.22145609e-02 -1.05161304e-01 2.89750459e+00] [-4.17545006e-02 9.99106276e-01 6.57354316e-03 -2.49518839e-01] [ 1.05344818e-01 -2.14024373e-03 9.94433451e-01 -4.41261723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14538475 meters Centerline goodness : 0.887437 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.04 [[ 9.93541825e-01 4.18264685e-02 -1.05476008e-01 2.89806517e+00] [-4.13359916e-02 9.99121938e-01 6.83288790e-03 -2.50150974e-01] [ 1.05669189e-01 -2.42880453e-03 9.94398373e-01 -4.33304004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17538475 meters Centerline goodness : 0.889946 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.04 [[ 9.93518166e-01 4.14906201e-02 -1.05830917e-01 2.89870030e+00] [-4.09697274e-02 9.99135217e-01 7.09217402e-03 -2.50633901e-01] [ 1.06033655e-01 -2.71033992e-03 9.94358848e-01 -4.26031517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20538475 meters Centerline goodness : 0.891918 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.25, Z:-0.04 [[ 9.93523688e-01 3.97418112e-02 -1.06448439e-01 2.90166689e+00] [-3.92664927e-02 9.99207252e-01 6.55824835e-03 -2.50420270e-01] [ 1.06624689e-01 -2.33591822e-03 9.94296595e-01 -4.29488353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23538475 meters Centerline goodness : 0.888058 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.04 [[ 9.93518921e-01 3.75954379e-02 -1.07269460e-01 2.90576678e+00] [-3.71930049e-02 9.99291555e-01 5.75046687e-03 -2.50259506e-01] [ 1.07409657e-01 -1.72352409e-03 9.94213355e-01 -4.40138856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26538475 meters Centerline goodness : 0.887709 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.04 [[ 9.93494922e-01 3.66889276e-02 -1.07804279e-01 2.90779852e+00] [-3.62962462e-02 9.99325366e-01 5.60311472e-03 -2.51009078e-01] [ 1.07937123e-01 -1.65377538e-03 9.94156347e-01 -4.42611762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters Centerline goodness : 0.888867 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.04 [[ 9.93471184e-01 3.49584351e-02 -1.08595184e-01 2.91080891e+00] [-3.45858895e-02 9.99387608e-01 5.31277861e-03 -2.51860874e-01] [ 1.08714407e-01 -1.52223143e-03 9.94071859e-01 -4.41677613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32538475 meters Centerline goodness : 0.886902 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.04 [[ 9.93444408e-01 3.43428884e-02 -1.09035660e-01 2.91250688e+00] [-3.39908301e-02 9.99409202e-01 5.08639630e-03 -2.51913317e-01] [ 1.09145923e-01 -1.34683937e-03 9.94024825e-01 -4.45991906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.05 [[ 9.93439560e-01 3.37697984e-02 -1.09258598e-01 2.91390567e+00] [-3.34699890e-02 9.99429241e-01 4.57733186e-03 -2.51346904e-01] [ 1.09350813e-01 -8.90418485e-04 9.94002820e-01 -4.54861922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38538475 meters Centerline goodness : 0.884613 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93400439e-01 3.28693117e-02 -1.09887109e-01 2.91655156e+00] [-3.26379834e-02 9.99459616e-01 3.90366681e-03 -2.50489906e-01] [ 1.09956038e-01 -2.91410694e-04 9.93936409e-01 -4.66022448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41538475 meters Centerline goodness : 0.882400 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93386317e-01 3.29166074e-02 -1.10000552e-01 2.91755737e+00] [-3.27812393e-02 9.99457929e-01 3.03934598e-03 -2.48312261e-01] [ 1.10040969e-01 5.86709711e-04 9.93926879e-01 -4.82317608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44538475 meters Centerline goodness : 0.881809 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93402907e-01 3.31591350e-02 -1.09777665e-01 2.91744368e+00] [-3.30971478e-02 9.99449288e-01 2.38728943e-03 -2.45905064e-01] [ 1.09796369e-01 1.26178733e-03 9.93953301e-01 -4.92858703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47538475 meters Centerline goodness : 0.880394 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.24, Z:-0.05 [[ 9.93245150e-01 3.78916486e-02 -1.09673586e-01 2.91680138e+00] [-3.74321197e-02 9.99279649e-01 6.24655374e-03 -2.43685038e-01] [ 1.09831274e-01 -2.09904441e-03 9.93948029e-01 -4.86205164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50538475 meters Centerline goodness : 0.879492 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.24, Z:-0.05 [[ 9.93241812e-01 3.84250136e-02 -1.09518135e-01 2.91598170e+00] [-3.80210541e-02 9.99260250e-01 5.77518913e-03 -2.41328789e-01] [ 1.09659030e-01 -1.57216439e-03 9.93968020e-01 -4.89212226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters Centerline goodness : 0.879197 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.24, Z:-0.05 [[ 9.93259076e-01 3.91961053e-02 -1.09087453e-01 2.91469010e+00] [-3.88377132e-02 9.99230892e-01 5.40894585e-03 -2.39081628e-01] [ 1.09215562e-01 -1.13577736e-03 9.94017440e-01 -4.94280418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56538475 meters Centerline goodness : 0.878321 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.24, Z:-0.05 [[ 0.99306558 0.04372812 -0.10912653 2.91486187] [-0.0430189 0.9990351 0.00884602 -0.2366897 ] [ 0.10940805 -0.00409018 0.9939885 -0.04958675] [ 0. 0. 0. 1. ]] SLAMing on 47.59538475 meters Centerline goodness : 0.876718 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.05 [[ 0.99303123 0.04490515 -0.108961 2.91346321] [-0.04426022 0.99898529 0.00833147 -0.23387602] [ 0.10922456 -0.00345077 0.99401111 -0.05000653] [ 0. 0. 0. 1. ]] SLAMing on 47.62538475 meters Centerline goodness : 0.877202 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.05 [[ 9.93039328e-01 4.51001167e-02 -1.08806581e-01 2.91321726e+00] [-4.45154999e-02 9.98978264e-01 7.79726968e-03 -2.32376134e-01] [ 1.09047067e-01 -2.89941612e-03 9.94032359e-01 -5.06889660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65538475 meters Centerline goodness : 0.877167 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.05 [[ 9.93045023e-01 4.54231848e-02 -1.08620056e-01 2.91302871e+00] [-4.49057015e-02 9.98965235e-01 7.20676412e-03 -2.30984759e-01] [ 1.08835014e-01 -2.27898143e-03 9.94057215e-01 -5.17962784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685384750000004 meters Centerline goodness : 0.880162 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.05 [[ 9.93039705e-01 4.55042696e-02 -1.08634738e-01 2.91309368e+00] [-4.49835508e-02 9.98961489e-01 7.24041820e-03 -2.31236588e-01] [ 1.08851390e-01 -2.30324649e-03 9.94055366e-01 -5.19053373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71538475 meters Centerline goodness : 0.876995 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.05 [[ 9.93021842e-01 4.52410222e-02 -1.08907629e-01 2.91392699e+00] [-4.47139158e-02 9.98973318e-01 7.27845223e-03 -2.31468691e-01] [ 1.09125100e-01 -2.35797547e-03 9.94025227e-01 -5.18667094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74538475 meters Centerline goodness : 0.877864 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.23, Z:-0.05 [[ 9.93019826e-01 4.45368640e-02 -1.09215812e-01 2.91539894e+00] [-4.39961514e-02 9.99004612e-01 7.35682815e-03 -2.32344164e-01] [ 1.09434750e-01 -2.50040081e-03 9.93990837e-01 -5.19450239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77538475 meters Centerline goodness : 0.882592 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.24, Z:-0.05 [[ 0.99297686 0.04422087 -0.1097336 2.91599844] [-0.04354533 0.9990149 0.00854621 -0.23545696] [ 0.11000343 -0.0037078 0.99392429 -0.04999487] [ 0. 0. 0. 1. ]] SLAMing on 47.80538475 meters Centerline goodness : 0.882751 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.24, Z:-0.05 [[ 0.99295209 0.04431042 -0.1099215 2.91596192] [-0.04356313 0.99900839 0.00919186 -0.23702378] [ 0.1102198 -0.00433855 0.99389777 -0.04903512] [ 0. 0. 0. 1. ]] SLAMing on 47.83538475 meters Centerline goodness : 0.882764 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.24, Z:-0.05 [[ 0.99293645 0.04498809 -0.10978741 2.91466347] [-0.04412823 0.99897329 0.01025052 -0.23939153] [ 0.11013584 -0.00533339 0.99390223 -0.04769867] [ 0. 0. 0. 1. ]] SLAMing on 47.865384750000004 meters Centerline goodness : 0.884058 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.24, Z:-0.05 [[ 9.93127370e-01 4.09368067e-02 -1.09645818e-01 2.91391417e+00] [-4.04881745e-02 9.99160056e-01 6.31586187e-03 -2.39327788e-01] [ 1.09812273e-01 -1.83309627e-03 9.93950655e-01 -4.79188780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters Centerline goodness : 0.887570 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.24, Z:-0.04 [[ 0.99308758 0.04015037 -0.11029507 2.91519758] [-0.03947143 0.99918595 0.00833308 -0.24395886] [ 0.11053986 -0.00392198 0.99386395 -0.04485267] [ 0. 0. 0. 1. ]] SLAMing on 47.92538475 meters Centerline goodness : 0.887998 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.04 [[ 0.99305566 0.0398197 -0.11070161 2.91639 ] [-0.03910767 0.99919802 0.00859674 -0.24530597] [ 0.11095515 -0.00420776 0.99381651 -0.04476402] [ 0. 0. 0. 1. ]] SLAMing on 47.95538475 meters Centerline goodness : 0.888749 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93292783e-01 3.65692982e-02 -1.09691086e-01 2.91721927e+00] [-3.60686869e-02 9.99327879e-01 6.54522533e-03 -2.46891516e-01] [ 1.09856714e-01 -2.54491165e-03 9.93944176e-01 -4.64153284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98538475 meters Centerline goodness : 0.889930 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93282266e-01 3.63066989e-02 -1.09873394e-01 2.91819841e+00] [-3.58092570e-02 9.99337518e-01 6.49790087e-03 -2.47384519e-01] [ 1.10036522e-01 -2.51976510e-03 9.93924350e-01 -4.68761096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01538475 meters Centerline goodness : 0.889924 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93246791e-01 3.53886305e-02 -1.10491883e-01 2.92097288e+00] [-3.49398790e-02 9.99371431e-01 5.99558589e-03 -2.48097421e-01] [ 1.10634607e-01 -2.09452343e-03 9.93858942e-01 -4.81681990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045384750000004 meters Centerline goodness : 0.886335 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93230682e-01 3.49105813e-02 -1.10788374e-01 2.92242017e+00] [-3.45225775e-02 9.99389226e-01 5.41912067e-03 -2.47545183e-01] [ 1.10909892e-01 -1.55773670e-03 9.93829246e-01 -4.91305102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07538475 meters Centerline goodness : 0.886131 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93218722e-01 3.43409395e-02 -1.11073262e-01 2.92428974e+00] [-3.40539079e-02 9.99409953e-01 4.48080659e-03 -2.46205925e-01] [ 1.11161598e-01 -6.67942369e-04 9.93802120e-01 -5.08204689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10538475 meters Centerline goodness : 0.885564 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.25, Z:-0.05 [[ 9.93208496e-01 3.40407557e-02 -1.11256958e-01 2.92472478e+00] [-3.37616562e-02 9.99420262e-01 4.39214945e-03 -2.45992016e-01] [ 1.11341970e-01 -6.06100981e-04 9.93781967e-01 -5.05839220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters Centerline goodness : 0.881164 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.24, Z:-0.05 [[ 9.93020278e-01 3.64795024e-02 -1.12160483e-01 2.93007013e+00] [-3.59844234e-02 9.99331627e-01 6.43594159e-03 -2.40380776e-01] [ 1.12320298e-01 -2.35499017e-03 9.93669263e-01 -5.32905861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16538475 meters Centerline goodness : 0.878849 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.05 [[ 0.99281144 0.03862137 -0.11328648 2.93165376] [-0.03796394 0.99924744 0.00795573 -0.23175594] [ 0.11350849 -0.00359774 0.99353051 -0.05177955] [ 0. 0. 0. 1. ]] SLAMing on 48.19538475 meters Centerline goodness : 0.879880 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.05 [[ 0.992793 0.03856036 -0.11346879 2.93099995] [-0.03796489 0.99925164 0.00740491 -0.22929041] [ 0.11366941 -0.00304371 0.99351397 -0.05091468] [ 0. 0. 0. 1. ]] SLAMing on 48.22538475 meters Centerline goodness : 0.880175 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.22, Z:-0.05 [[ 9.92763533e-01 3.81001853e-02 -1.13881271e-01 2.93233037e+00] [-3.76569329e-02 9.99272462e-01 6.04169821e-03 -2.24515725e-01] [ 1.14028608e-01 -1.70955827e-03 9.93475996e-01 -5.19205823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters Centerline goodness : 0.875866 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.22, Z:-0.05 [[ 0.99232953 0.04368037 -0.11564658 2.93895752] [-0.04262687 0.99902409 0.01156831 -0.21684501] [ 0.11603903 -0.00654992 0.99322306 -0.05260664] [ 0. 0. 0. 1. ]] SLAMing on 48.28538475 meters Centerline goodness : 0.875557 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99234402 0.04418554 -0.11532991 2.93757999] [-0.04321218 0.99900615 0.01092754 -0.21327501] [ 0.11569813 -0.00586022 0.99326713 -0.05261714] [ 0. 0. 0. 1. ]] SLAMing on 48.31538475 meters Centerline goodness : 0.875557 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99234402 0.04418554 -0.11532991 2.93757999] [-0.04321218 0.99900615 0.01092754 -0.21327501] [ 0.11569813 -0.00586022 0.99326713 -0.05261714] [ 0. 0. 0. 1. ]] SLAMing on 48.34538475 meters Centerline goodness : 0.878326 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99214515 0.04899814 -0.11509642 2.93573305] [-0.04756955 0.99875337 0.01512786 -0.21014664] [ 0.11569417 -0.00953394 0.99323913 -0.05026877] [ 0. 0. 0. 1. ]] SLAMing on 48.37538475 meters Centerline goodness : 0.879163 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.21, Z:-0.05 [[ 0.99216557 0.0492294 -0.11482139 2.93484021] [-0.04786436 0.99874689 0.01461698 -0.20653532] [ 0.11539709 -0.00900662 0.99327861 -0.05028623] [ 0. 0. 0. 1. ]] SLAMing on 48.40538475 meters Centerline goodness : 0.880035 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99218807 0.04987937 -0.11434542 2.93238955] [-0.04854736 0.99871699 0.01440609 -0.2023744 ] [ 0.11491728 -0.00874238 0.99333659 -0.04903428] [ 0. 0. 0. 1. ]] SLAMing on 48.435384750000004 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99218215 0.04998227 -0.11435186 2.93097099] [-0.04859956 0.99870795 0.01484956 -0.20170252] [ 0.11494633 -0.00917602 0.99332932 -0.04688718] [ 0. 0. 0. 1. ]] SLAMing on 48.46538475 meters Centerline goodness : 0.883005 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99217453 0.0498799 -0.11446267 2.93097848] [-0.048499 0.99871329 0.01481922 -0.20134367] [ 0.11505457 -0.00915193 0.99331701 -0.04651918] [ 0. 0. 0. 1. ]] SLAMing on 48.49538475 meters Centerline goodness : 0.883034 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.9921724 0.04972431 -0.11454874 2.93118865] [-0.04837425 0.99872348 0.01453739 -0.2005416 ] [ 0.11512538 -0.00888239 0.99331126 -0.0466002 ] [ 0. 0. 0. 1. ]] SLAMing on 48.52538475 meters Centerline goodness : 0.884449 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99217403 0.0493172 -0.11471056 2.9323606 ] [-0.04807071 0.99875122 0.01360908 -0.19826371] [ 0.11523847 -0.00798836 0.99330573 -0.04784795] [ 0. 0. 0. 1. ]] SLAMing on 48.55538475 meters Centerline goodness : 0.883456 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99217377 0.04918075 -0.11477132 2.93305598] [-0.04800176 0.99876245 0.01301546 -0.19705654] [ 0.11526939 -0.00740437 0.99330667 -0.04884059] [ 0. 0. 0. 1. ]] SLAMing on 48.58538475 meters Centerline goodness : 0.881043 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99219654 0.04896777 -0.11466549 2.9343713 ] [-0.0479075 0.99877986 0.01198593 -0.19542983] [ 0.11511251 -0.00639906 0.99333185 -0.05116225] [ 0. 0. 0. 1. ]] SLAMing on 48.615384750000004 meters Centerline goodness : 0.883604 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99216465 0.04902019 -0.11491876 2.93484984] [-0.04794258 0.99877651 0.01212405 -0.19648332] [ 0.11537248 -0.00651955 0.9933009 -0.05113383] [ 0. 0. 0. 1. ]] SLAMing on 48.64538475 meters Centerline goodness : 0.885414 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99215219 0.04916721 -0.11496352 2.93486042] [-0.04807117 0.99876832 0.01228852 -0.19730289] [ 0.11542612 -0.00666565 0.9932937 -0.05110077] [ 0. 0. 0. 1. ]] SLAMing on 48.67538475 meters Centerline goodness : 0.884134 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.9921474 0.04948961 -0.1148665 2.93465789] [-0.04836145 0.99875056 0.01258931 -0.19845977] [ 0.11534602 -0.00693534 0.99330116 -0.05123471] [ 0. 0. 0. 1. ]] SLAMing on 48.70538475 meters Centerline goodness : 0.883347 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99214789 0.04968302 -0.11477876 2.93457314] [-0.04854625 0.99874045 0.01267991 -0.19903823] [ 0.11526417 -0.00700827 0.99331015 -0.05145696] [ 0. 0. 0. 1. ]] SLAMing on 48.73538475 meters Centerline goodness : 0.885780 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99212374 0.05015882 -0.11478055 2.93437098] [-0.04899119 0.99871496 0.01297294 -0.20033175] [ 0.11528376 -0.00724753 0.99330616 -0.05147956] [ 0. 0. 0. 1. ]] SLAMing on 48.76538475 meters Centerline goodness : 0.886164 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99213401 0.05061157 -0.11449265 2.93378817] [-0.04944802 0.99869233 0.01298178 -0.20051094] [ 0.11499996 -0.00721823 0.99333927 -0.05190712] [ 0. 0. 0. 1. ]] SLAMing on 48.795384750000004 meters Centerline goodness : 0.885859 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99214552 0.0509261 -0.11425324 2.93351811] [-0.04978672 0.99867777 0.01280564 -0.20033296] [ 0.11475431 -0.00701677 0.99336912 -0.05258133] [ 0. 0. 0. 1. ]] SLAMing on 48.82538475 meters Centerline goodness : 0.886825 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99218387 0.05166366 -0.11358716 2.93284645] [-0.05055165 0.99864132 0.01265047 -0.20077511] [ 0.1140864 -0.00680957 0.99344749 -0.05425565] [ 0. 0. 0. 1. ]] SLAMing on 48.85538475 meters Centerline goodness : 0.889434 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99235941 0.04682162 -0.11415134 2.93358646] [-0.04608245 0.99889613 0.00910705 -0.20284385] [ 0.11445174 -0.0037771 0.99342163 -0.05353069] [ 0. 0. 0. 1. ]] SLAMing on 48.88538475 meters Centerline goodness : 0.889461 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.05 [[ 0.99234348 0.04669124 -0.11434308 2.93403702] [-0.04590215 0.99890052 0.00952577 -0.2046099 ] [ 0.11466214 -0.00420424 0.99339565 -0.05318125] [ 0. 0. 0. 1. ]] SLAMing on 48.91538475 meters Centerline goodness : 0.889164 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99230047 0.04633551 -0.11485992 2.93526285] [-0.04552529 0.9989164 0.00966853 -0.20562654] [ 0.11518346 -0.00436506 0.99333465 -0.0529614 ] [ 0. 0. 0. 1. ]] SLAMing on 48.94538475 meters Centerline goodness : 0.886838 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99229677 0.04610484 -0.11498462 2.93656358] [-0.04534309 0.9989288 0.00923302 -0.20590938] [ 0.11528714 -0.00394813 0.99332436 -0.05429863] [ 0. 0. 0. 1. ]] SLAMing on 48.97538475 meters Centerline goodness : 0.884611 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99227921 0.04632617 -0.11504722 2.93641725] [-0.04550697 0.99891655 0.00973825 -0.20742764] [ 0.1153737 -0.00442761 0.99331229 -0.05375052] [ 0. 0. 0. 1. ]] SLAMing on 49.00538475 meters Centerline goodness : 0.883579 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99226313 0.04658021 -0.11508327 2.93625201] [-0.04573422 0.99890377 0.009982 -0.20821144] [ 0.11542208 -0.00464153 0.99330569 -0.05356199] [ 0. 0. 0. 1. ]] SLAMing on 49.03538475 meters Centerline goodness : 0.884170 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99224656 0.04651485 -0.1152525 2.93672688] [-0.04567606 0.99890715 0.00990958 -0.20868313] [ 0.11558749 -0.00456846 0.9932868 -0.05374856] [ 0. 0. 0. 1. ]] SLAMing on 49.06538475 meters Centerline goodness : 0.886711 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99221937 0.0464506 -0.1155122 2.93666157] [-0.04555043 0.99890768 0.01042181 -0.21029146] [ 0.11587012 -0.00507909 0.99325139 -0.05257928] [ 0. 0. 0. 1. ]] SLAMing on 49.09538475 meters Centerline goodness : 0.886168 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99219614 0.0458448 -0.11595288 2.93804708] [-0.04498325 0.99893731 0.01003745 -0.20960883] [ 0.11628982 -0.00474318 0.993204 -0.0528115 ] [ 0. 0. 0. 1. ]] SLAMing on 49.12538475 meters Centerline goodness : 0.885995 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99196561 0.04827899 -0.11693319 2.94276826] [-0.04709055 0.99880724 0.01290652 -0.20883529] [ 0.11741683 -0.00729638 0.99305592 -0.05422278] [ 0. 0. 0. 1. ]] SLAMing on 49.15538475 meters Centerline goodness : 0.883232 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99194144 0.04789462 -0.11729574 2.94393131] [-0.04677931 0.9988302 0.01224479 -0.20724216] [ 0.11774498 -0.0066591 0.99302154 -0.05476073] [ 0. 0. 0. 1. ]] SLAMing on 49.185384750000004 meters Centerline goodness : 0.885635 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.9919258 0.04771907 -0.11749933 2.94398862] [-0.04660341 0.99883865 0.01222583 -0.20716137] [ 0.11794628 -0.00665125 0.9929977 -0.05419937] [ 0. 0. 0. 1. ]] SLAMing on 49.21538475 meters Centerline goodness : 0.885365 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.21, Z:-0.05 [[ 0.99191555 0.04767539 -0.1176036 2.94395184] [-0.04658165 0.99884201 0.01203292 -0.206107 ] [ 0.11804109 -0.00645747 0.99298772 -0.05394534] [ 0. 0. 0. 1. ]] SLAMing on 49.24538475 meters Centerline goodness : 0.882771 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99193272 0.04774096 -0.11743204 2.94396743] [-0.04672423 0.9988428 0.01139739 -0.20328221] [ 0.11784027 -0.00581853 0.99301552 -0.05467079] [ 0. 0. 0. 1. ]] SLAMing on 49.27538475 meters Centerline goodness : 0.881271 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99194009 0.04741448 -0.11750204 2.94498655] [-0.04648483 0.99886232 0.01064127 -0.20152964] [ 0.11787291 -0.00509344 0.99301563 -0.05584497] [ 0. 0. 0. 1. ]] SLAMing on 49.30538475 meters Centerline goodness : 0.881680 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99194853 0.04776692 -0.11728784 2.94441277] [-0.0468672 0.99884679 0.01041868 -0.2002579 ] [ 0.11765026 -0.00483784 0.99304331 -0.05611842] [ 0. 0. 0. 1. ]] SLAMing on 49.33538475 meters Centerline goodness : 0.882480 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.9919288 0.04805322 -0.1173377 2.94374779] [-0.04712063 0.99883178 0.01071066 -0.2003838 ] [ 0.11771531 -0.00509519 0.99303431 -0.05527331] [ 0. 0. 0. 1. ]] SLAMing on 49.365384750000004 meters Centerline goodness : 0.884920 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99189315 0.0485166 -0.11744833 2.94264023] [-0.04748972 0.99880521 0.01152764 -0.20145804] [ 0.11786728 -0.0058566 0.99301209 -0.0533755 ] [ 0. 0. 0. 1. ]] SLAMing on 49.39538475 meters Centerline goodness : 0.886564 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99190203 0.048799 -0.11725626 2.94216578] [-0.0477917 0.9987924 0.01138858 -0.20065263] [ 0.11767041 -0.00569248 0.99303639 -0.05355853] [ 0. 0. 0. 1. ]] SLAMing on 49.42538475 meters Centerline goodness : 0.885331 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99190559 0.0487253 -0.11725672 2.94259547] [-0.04774808 0.99879739 0.0111304 -0.20010762] [ 0.11765803 -0.00544153 0.99303926 -0.05413371] [ 0. 0. 0. 1. ]] SLAMing on 49.45538475 meters Centerline goodness : 0.886998 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99189666 0.04875087 -0.11732169 2.94286603] [-0.04778139 0.99879654 0.01106357 -0.20030206] [ 0.11771985 -0.00536813 0.99303234 -0.05437527] [ 0. 0. 0. 1. ]] SLAMing on 49.48538475 meters Centerline goodness : 0.885883 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99185585 0.04888321 -0.11761123 2.94294731] [-0.04788309 0.99878885 0.01131591 -0.20148732] [ 0.11802194 -0.00559217 0.99299524 -0.05382348] [ 0. 0. 0. 1. ]] SLAMing on 49.51538475 meters Centerline goodness : 0.889661 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99185492 0.0491736 -0.11749801 2.94295299] [-0.04819635 0.99877569 0.01114583 -0.20145705] [ 0.11790224 -0.00539208 0.99301057 -0.05454213] [ 0. 0. 0. 1. ]] SLAMing on 49.545384750000004 meters Centerline goodness : 0.889285 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.05 [[ 0.99185502 0.04928691 -0.11744968 2.9430403 ] [-0.04832358 0.99877075 0.01103742 -0.20146755] [ 0.1178493 -0.00527193 0.9930175 -0.05495518] [ 0. 0. 0. 1. ]] SLAMing on 49.57538475 meters Centerline goodness : 0.887370 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99185504 0.04987686 -0.1172002 2.94226255] [-0.04892123 0.99874186 0.01101817 -0.2018998 ] [ 0.1176023 -0.00519485 0.99304719 -0.05532272] [ 0. 0. 0. 1. ]] SLAMing on 49.60538475 meters Centerline goodness : 0.890998 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99185162 0.05009285 -0.11713701 2.9421241 ] [-0.04915416 0.99873183 0.01089054 -0.20175992] [ 0.117534 -0.00504402 0.99305605 -0.05564905] [ 0. 0. 0. 1. ]] SLAMing on 49.63538475 meters Centerline goodness : 0.890380 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99186823 0.05020287 -0.11694904 2.94197519] [-0.04927314 0.99872663 0.01082938 -0.20152218] [ 0.11734378 -0.00497887 0.99307887 -0.05600827] [ 0. 0. 0. 1. ]] SLAMing on 49.66538475 meters Centerline goodness : 0.891669 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99185633 0.05007117 -0.11710632 2.94271677] [-0.04917559 0.99873468 0.01052628 -0.20100567] [ 0.11748521 -0.00468178 0.9930636 -0.05658741] [ 0. 0. 0. 1. ]] SLAMing on 49.69538475 meters Centerline goodness : 0.890847 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.06 [[ 0.99184058 0.049729 -0.1173852 2.94391766] [-0.04888525 0.99875376 0.01005791 -0.20061183] [ 0.11773908 -0.00423744 0.99303552 -0.05735634] [ 0. 0. 0. 1. ]] SLAMing on 49.72538475 meters Centerline goodness : 0.889395 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.06 [[ 0.9918435 0.04932198 -0.11753221 2.94557214] [-0.04856091 0.99877663 0.00933207 -0.19979671] [ 0.1178487 -0.00354848 0.99302522 -0.05906956] [ 0. 0. 0. 1. ]] SLAMing on 49.75538475 meters Centerline goodness : 0.891890 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91984187e-01 4.43316519e-02 -1.18330377e-01 2.94522812e+00] [-4.36982583e-02 9.99013197e-01 7.94321868e-03 -2.02231977e-01] [ 1.18565744e-01 -2.70871595e-03 9.92942510e-01 -5.34886549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78538475 meters Centerline goodness : 0.892770 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99194414 0.04367588 -0.11890852 2.94646255] [-0.04300452 0.99904117 0.00820733 -0.2031762 ] [ 0.11915296 -0.00302761 0.99287129 -0.05267155] [ 0. 0. 0. 1. ]] SLAMing on 49.81538475 meters Centerline goodness : 0.891524 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91927912e-01 4.27353557e-02 -1.19384697e-01 2.94853253e+00] [-4.21105845e-02 9.99082880e-01 7.75223397e-03 -2.02842090e-01] [ 1.19606502e-01 -2.66229788e-03 9.92817807e-01 -5.32809035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84538475 meters Centerline goodness : 0.890176 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99173297 0.04484653 -0.12022687 2.95308983] [-0.04385139 0.99897848 0.01091146 -0.20142795] [ 0.1205934 -0.00554914 0.99268648 -0.05404187] [ 0. 0. 0. 1. ]] SLAMing on 49.87538475 meters Centerline goodness : 0.889608 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99173964 0.04473007 -0.12021525 2.95353913] [-0.0437851 0.99898588 0.01049197 -0.20025546] [ 0.12056265 -0.00514167 0.99269241 -0.05471293] [ 0. 0. 0. 1. ]] SLAMing on 49.90538475 meters Centerline goodness : 0.890172 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99172369 0.04528778 -0.12013798 2.95227161] [-0.04427242 0.99895773 0.01110868 -0.20112992] [ 0.12051585 -0.00569795 0.99269505 -0.05343877] [ 0. 0. 0. 1. ]] SLAMing on 49.935384750000004 meters Centerline goodness : 0.894516 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99171388 0.04628263 -0.11983948 2.94971843] [-0.04516345 0.99890706 0.01203967 -0.20117076] [ 0.12026573 -0.00652754 0.99272028 -0.05133483] [ 0. 0. 0. 1. ]] SLAMing on 49.96538475 meters Centerline goodness : 0.893312 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99172276 0.04677613 -0.11957406 2.94862831] [-0.04563629 0.99888295 0.01225456 -0.2009918 ] [ 0.12001371 -0.00669621 0.99274965 -0.05097092] [ 0. 0. 0. 1. ]] SLAMing on 49.99538475 meters Centerline goodness : 0.894339 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99173589 0.0468856 -0.11942217 2.94851285] [-0.04578419 0.99887986 0.0119514 -0.19988797] [ 0.11984875 -0.00638499 0.99277163 -0.05141449] [ 0. 0. 0. 1. ]] SLAMing on 50.02538475 meters Centerline goodness : 0.893945 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99174003 0.04686639 -0.11939539 2.94898138] [-0.04582633 0.99888388 0.01144329 -0.19861845] [ 0.11979844 -0.00587731 0.99278084 -0.05236005] [ 0. 0. 0. 1. ]] SLAMing on 50.05538475 meters Centerline goodness : 0.896227 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99175425 0.04710367 -0.11918369 2.94898143] [-0.04611023 0.9988749 0.01108084 -0.19692786] [ 0.11957154 -0.00549389 0.99281039 -0.05327006] [ 0. 0. 0. 1. ]] SLAMing on 50.08538475 meters Centerline goodness : 0.894797 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99172308 0.04711028 -0.11944013 2.94925931] [-0.04609841 0.99887387 0.01122209 -0.19744006] [ 0.1198343 -0.00562321 0.99277798 -0.05294352] [ 0. 0. 0. 1. ]] SLAMing on 50.115384750000004 meters Centerline goodness : 0.896576 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99170257 0.0470633 -0.11962886 2.94969568] [-0.04605571 0.99887636 0.01117501 -0.19803232] [ 0.12002037 -0.00557269 0.99275579 -0.05305868] [ 0. 0. 0. 1. ]] SLAMing on 50.14538475 meters Centerline goodness : 0.896538 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99171356 0.04706469 -0.11953719 2.94989132] [-0.0460825 0.99887741 0.01096908 -0.19763322] [ 0.11991925 -0.00536962 0.99276913 -0.05364565] [ 0. 0. 0. 1. ]] SLAMing on 50.17538475 meters Centerline goodness : 0.901674 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.9917156 0.04746269 -0.11936277 2.94912964] [-0.04644218 0.99885685 0.01131849 -0.19800016] [ 0.11976353 -0.00568126 0.99278619 -0.05332032] [ 0. 0. 0. 1. ]] SLAMing on 50.20538475 meters Centerline goodness : 0.901674 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.9917156 0.04746269 -0.11936277 2.94912964] [-0.04644218 0.99885685 0.01131849 -0.19800016] [ 0.11976353 -0.00568126 0.99278619 -0.05332032] [ 0. 0. 0. 1. ]] SLAMing on 50.23538475 meters Centerline goodness : 0.900501 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.9916985 0.04773385 -0.11939666 2.94869952] [-0.04666375 0.99884162 0.01174397 -0.19873475] [ 0.11981894 -0.00607498 0.99277717 -0.05269403] [ 0. 0. 0. 1. ]] SLAMing on 50.26538475 meters Centerline goodness : 0.905314 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99172936 0.04857731 -0.11879865 2.9468198 ] [-0.04746139 0.99879849 0.01220629 -0.19899638] [ 0.11924886 -0.00646699 0.99284333 -0.05233023] [ 0. 0. 0. 1. ]] SLAMing on 50.295384750000004 meters Centerline goodness : 0.905803 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99172575 0.0487973 -0.1187386 2.94660758] [-0.04768513 0.99878802 0.01219135 -0.1986496 ] [ 0.1191896 -0.00642841 0.9928507 -0.05245926] [ 0. 0. 0. 1. ]] SLAMing on 50.32538475 meters Centerline goodness : 0.911377 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99170858 0.04907255 -0.11876856 2.94622066] [-0.04791691 0.99877225 0.01256804 -0.19986605] [ 0.11923949 -0.00677281 0.99284242 -0.05199431] [ 0. 0. 0. 1. ]] SLAMing on 50.35538475 meters Centerline goodness : 0.914549 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99190826 0.04509636 -0.11867738 2.94520379] [-0.04434154 0.99897594 0.00899446 -0.20131715] [ 0.11896146 -0.00365934 0.99289213 -0.05172611] [ 0. 0. 0. 1. ]] SLAMing on 50.38538475 meters Centerline goodness : 0.916313 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99187778 0.04419644 -0.11926922 2.94700926] [-0.04342088 0.99901547 0.00909469 -0.20235954] [ 0.11955374 -0.00384204 0.9928203 -0.05144662] [ 0. 0. 0. 1. ]] SLAMing on 50.41538475 meters Centerline goodness : 0.913287 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99187647 0.04274251 -0.11980883 2.94998168] [-0.04199176 0.99907933 0.00878496 -0.20340714] [ 0.12007402 -0.00368261 0.99275811 -0.05235747] [ 0. 0. 0. 1. ]] SLAMing on 50.44538475 meters Centerline goodness : 0.915542 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99185643 0.04269075 -0.11999303 2.95065497] [-0.04192663 0.99908117 0.00888656 -0.20393366] [ 0.12026215 -0.00378329 0.99273496 -0.05257672] [ 0. 0. 0. 1. ]] SLAMing on 50.47538475 meters Centerline goodness : 0.915637 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99186331 0.04296904 -0.11983667 2.95046467] [-0.04220267 0.99906919 0.00892688 -0.20395158] [ 0.12010871 -0.00379681 0.99275349 -0.05293428] [ 0. 0. 0. 1. ]] SLAMing on 50.50538475 meters Centerline goodness : 0.917354 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 0.99185917 0.04402589 -0.11948686 2.94870816] [-0.04319769 0.99902124 0.00951384 -0.20420084] [ 0.11978877 -0.00427484 0.9927902 -0.05231916] [ 0. 0. 0. 1. ]] SLAMing on 50.53538475 meters Centerline goodness : 0.920088 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 0.99183582 0.04438413 -0.11954814 2.94801473] [-0.04348278 0.99900273 0.01013896 -0.2055435 ] [ 0.11987893 -0.0048579 0.99277663 -0.05125214] [ 0. 0. 0. 1. ]] SLAMing on 50.56538475 meters Centerline goodness : 0.922964 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 0.99177369 0.04371929 -0.12030615 2.94960582] [-0.04275225 0.99902938 0.01060873 -0.20732946] [ 0.12065319 -0.00537811 0.99268015 -0.05020017] [ 0. 0. 0. 1. ]] SLAMing on 50.59538475 meters Centerline goodness : 0.923533 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 0.99178786 0.04326753 -0.12035265 2.95070096] [-0.04235029 0.99905106 0.01016986 -0.20691117] [ 0.12067847 -0.00498937 0.99267911 -0.05120345] [ 0. 0. 0. 1. ]] SLAMing on 50.62538475 meters Centerline goodness : 0.923696 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 0.99178879 0.04337858 -0.12030497 2.95087015] [-0.04248684 0.99904729 0.0099687 -0.20671745] [ 0.12062278 -0.00477547 0.99268693 -0.05181709] [ 0. 0. 0. 1. ]] SLAMing on 50.65538475 meters Centerline goodness : 0.924678 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 0.99178309 0.04395667 -0.12014202 2.95074422] [-0.04310082 0.9990235 0.00971417 -0.20609684] [ 0.12045171 -0.00445613 0.99270919 -0.05286406] [ 0. 0. 0. 1. ]] SLAMing on 50.68538475 meters Centerline goodness : 0.927514 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 9.91966439e-01 4.11202905e-02 -1.19631542e-01 2.94817529e+00] [-4.07019729e-02 9.99153680e-01 5.93905655e-03 -2.05099901e-01] [ 1.19774511e-01 -1.02210498e-03 9.92800595e-01 -5.30593634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71538475 meters Centerline goodness : 0.928625 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 9.91936803e-01 4.13994330e-02 -1.19780911e-01 2.94742156e+00] [-4.08881368e-02 9.99141104e-01 6.72417273e-03 -2.05941710e-01] [ 1.19956409e-01 -1.77233611e-03 9.92777578e-01 -5.14393908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74538475 meters Centerline goodness : 0.928576 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.05 [[ 9.91918012e-01 4.11697475e-02 -1.20015451e-01 2.94814289e+00] [-4.06991097e-02 9.99151136e-01 6.37101339e-03 -2.05327633e-01] [ 1.20175867e-01 -1.43500094e-03 9.92751581e-01 -5.17528748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77538475 meters Centerline goodness : 0.927500 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91905382e-01 4.05862879e-02 -1.20318191e-01 2.94996107e+00] [-4.02297801e-02 9.99175908e-01 5.39158385e-03 -2.03707442e-01] [ 1.20437862e-01 -5.07566659e-04 9.92720738e-01 -5.32861309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80538475 meters Centerline goodness : 0.925453 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91896426e-01 4.07629174e-02 -1.20332310e-01 2.95013812e+00] [-4.04315473e-02 9.99168805e-01 5.19501497e-03 -2.02971154e-01] [ 1.20444055e-01 -2.87695281e-04 9.92720075e-01 -5.37852749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters Centerline goodness : 0.927635 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91919773e-01 4.08846637e-02 -1.20098324e-01 2.94984204e+00] [-4.05764709e-02 9.99163868e-01 5.01151760e-03 -2.02465542e-01] [ 1.20202800e-01 -9.78572415e-05 9.92749353e-01 -5.42089857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865384750000004 meters Centerline goodness : 0.926281 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91910916e-01 4.10092201e-02 -1.20129010e-01 2.94976080e+00] [-4.06632870e-02 9.99158687e-01 5.33060496e-03 -2.03024334e-01] [ 1.20246548e-01 -4.02644842e-04 9.92743978e-01 -5.38579520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters Centerline goodness : 0.927898 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91871865e-01 4.08148213e-02 -1.20517028e-01 2.95059363e+00] [-4.04690118e-02 9.99166649e-01 5.31654396e-03 -2.03372271e-01] [ 1.20633589e-01 -3.96125354e-04 9.92697023e-01 -5.37819423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92538475 meters Centerline goodness : 0.927549 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91834258e-01 4.05020054e-02 -1.20931350e-01 2.95186484e+00] [-4.01923327e-02 9.99179452e-01 4.99985396e-03 -2.03006702e-01] [ 1.21034624e-01 -9.85133916e-05 9.92648281e-01 -5.42207905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters Centerline goodness : 0.926071 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91834487e-01 4.07927653e-02 -1.20831706e-01 2.95150878e+00] [-4.04883388e-02 9.99167628e-01 4.97452053e-03 -2.02581905e-01] [ 1.20934054e-01 -4.16259631e-05 9.92660543e-01 -5.43072438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98538475 meters Centerline goodness : 0.927579 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91841863e-01 4.17205697e-02 -1.20453776e-01 2.95018210e+00] [-4.14147140e-02 9.99129318e-01 5.04257565e-03 -2.00568987e-01] [ 1.20559278e-01 -1.28789532e-05 9.92706130e-01 -5.43972636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters Centerline goodness : 0.928294 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91831285e-01 4.21351334e-02 -1.20396565e-01 2.94878086e+00] [-4.17787725e-02 9.99111837e-01 5.48368548e-03 -2.00362265e-01] [ 1.20520689e-01 -4.08870109e-04 9.92710731e-01 -5.28690955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045384750000004 meters Centerline goodness : 0.928885 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91761173e-01 4.16083870e-02 -1.21154932e-01 2.94955723e+00] [-4.11421113e-02 9.99133135e-01 6.34864375e-03 -2.01340060e-01] [ 1.21314064e-01 -1.31176867e-03 9.92613307e-01 -5.05356842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters Centerline goodness : 0.928755 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91745911e-01 4.02229307e-02 -1.21746307e-01 2.95205440e+00] [-3.98789994e-02 9.99190665e-01 5.26128729e-03 -1.99005284e-01] [ 1.21859398e-01 -3.62739244e-04 9.92547306e-01 -5.13590716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10538475 meters Centerline goodness : 0.924830 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91708649e-01 3.94964447e-02 -1.22286493e-01 2.95396431e+00] [-3.92170981e-02 9.99219701e-01 4.69136296e-03 -1.97765981e-01] [ 1.22376365e-01 1.43256168e-04 9.92483755e-01 -5.19297045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters Centerline goodness : 0.925360 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.20, Z:-0.05 [[ 9.91709602e-01 3.87795946e-02 -1.22507990e-01 2.95572104e+00] [-3.86196290e-02 9.99247204e-01 3.68094002e-03 -1.96023825e-01] [ 1.22558512e-01 1.08078955e-03 9.92460701e-01 -5.34780733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16538475 meters Centerline goodness : 0.926013 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.20, Z:-0.05 [[ 9.91687860e-01 3.82677521e-02 -1.22844488e-01 2.95723033e+00] [-3.81711363e-02 9.99266281e-01 3.14073419e-03 -1.95049826e-01] [ 1.22874543e-01 1.57448570e-03 9.92420963e-01 -5.42701283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters Centerline goodness : 0.924420 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.05 [[ 9.91697341e-01 3.82056209e-02 -1.22787272e-01 2.95762820e+00] [-3.81391120e-02 9.99268252e-01 2.89287295e-03 -1.94474233e-01] [ 1.22807947e-01 1.81414311e-03 9.92428797e-01 -5.49028667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22538475 meters Centerline goodness : 0.920444 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.05 [[ 9.91690380e-01 3.85361435e-02 -1.22740200e-01 2.95689190e+00] [-3.84484668e-02 9.99255826e-01 3.08367840e-03 -1.93771206e-01] [ 1.22767693e-01 1.66111828e-03 9.92434045e-01 -5.42219167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters Centerline goodness : 0.924115 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.05 [[ 9.91700585e-01 3.90874238e-02 -1.22483154e-01 2.95562456e+00] [-3.89410705e-02 9.99235062e-01 3.58940759e-03 -1.93848088e-01] [ 1.22529763e-01 1.21000753e-03 9.92464102e-01 -5.33743720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28538475 meters Centerline goodness : 0.921768 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.19, Z:-0.05 [[ 9.91726214e-01 4.00489589e-02 -1.21963915e-01 2.95326128e+00] [-3.98211370e-02 9.99197546e-01 4.30583107e-03 -1.93472205e-01] [ 1.22038489e-01 5.86536225e-04 9.92525195e-01 -5.20103927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters Centerline goodness : 0.924922 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.19, Z:-0.05 [[ 9.91730851e-01 4.04579616e-02 -1.21791104e-01 2.95228204e+00] [-4.02003807e-02 9.99181176e-01 4.57238606e-03 -1.93371010e-01] [ 1.21876367e-01 3.61472408e-04 9.92545223e-01 -5.14476335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34538475 meters Centerline goodness : 0.923227 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.19, Z:-0.05 [[ 9.91751192e-01 4.09852372e-02 -1.21448687e-01 2.95080028e+00] [-4.06688705e-02 9.99159747e-01 5.08361607e-03 -1.93895849e-01] [ 1.21554992e-01 -1.02501382e-04 9.92584693e-01 -5.05718972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37538475 meters Centerline goodness : 0.924123 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.19, Z:-0.05 [[ 9.91745333e-01 4.07460154e-02 -1.21576959e-01 2.95155280e+00] [-4.03967210e-02 9.99169463e-01 5.33748182e-03 -1.94897658e-01] [ 1.21693466e-01 -3.82112199e-04 9.92567657e-01 -5.05642755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40538475 meters Centerline goodness : 0.922295 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91738785e-01 4.06323421e-02 -1.21668385e-01 2.95219990e+00] [-4.02670005e-02 9.99174032e-01 5.46103138e-03 -1.95627446e-01] [ 1.21789786e-01 -5.16695688e-04 9.92555782e-01 -5.08446957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43538475 meters Centerline goodness : 0.920720 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91748545e-01 4.01183760e-02 -1.21759353e-01 2.95377013e+00] [-3.97645137e-02 9.99194833e-01 5.33573287e-03 -1.96043920e-01] [ 1.21875377e-01 -4.50003860e-04 9.92545309e-01 -5.18777526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46538475 meters Centerline goodness : 0.920111 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.20, Z:-0.05 [[ 9.91740510e-01 4.01242472e-02 -1.21822843e-01 2.95441369e+00] [-3.97642907e-02 9.99194575e-01 5.38546056e-03 -1.96802153e-01] [ 1.21940811e-01 -4.96780465e-04 9.92537250e-01 -5.24582053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49538475 meters Centerline goodness : 0.917145 Centerline is valid? [False, False] Translation: X:2.01, Y:0.02, Z:-0.34 [[ 0.99010031 -0.13969531 -0.01366006 2.00948436] [ 0.12222074 0.90589752 -0.40547723 0.01509572] [ 0.06901788 0.39979359 0.91400308 -0.33865749] [ 0. 0. 0. 1. ]] SLAMing on 51.52538475 meters Centerline goodness : 0.918192 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.24, Z:-0.15 [[ 0.99476673 0.07497475 -0.06941142 2.40138906] [-0.07845583 0.99571954 -0.04885972 -0.24059363] [ 0.06545107 0.05404975 0.99639088 -0.14670829] [ 0. 0. 0. 1. ]] SLAMing on 51.55538475 meters Centerline goodness : 0.918978 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.24, Z:-0.14 [[ 0.99447251 0.07847471 -0.06975777 2.40252399] [-0.0815876 0.99574025 -0.04295142 -0.24433089] [ 0.06609002 0.04840538 0.99663887 -0.1438378 ] [ 0. 0. 0. 1. ]] SLAMing on 51.58538475 meters Centerline goodness : 0.920118 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.25, Z:-0.14 [[ 0.99443365 0.07900119 -0.06971743 2.40168444] [-0.08205332 0.99574028 -0.04205418 -0.2456264 ] [ 0.06609812 0.04754064 0.99667995 -0.14270479] [ 0. 0. 0. 1. ]] SLAMing on 51.615384750000004 meters Centerline goodness : 0.919481 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.25, Z:-0.14 [[ 0.99411523 0.08252071 -0.07018001 2.40359587] [-0.08526351 0.99567031 -0.03702389 -0.24799093] [ 0.06682092 0.04278981 0.99684703 -0.14138998] [ 0. 0. 0. 1. ]] SLAMing on 51.64538475 meters Centerline goodness : 0.916811 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.25, Z:-0.14 [[ 0.99380449 0.08587397 -0.07055708 2.40541592] [-0.08831919 0.99556859 -0.03229406 -0.2502812 ] [ 0.0674712 0.03832552 0.99698485 -0.14035575] [ 0. 0. 0. 1. ]] SLAMing on 51.67538475 meters Centerline goodness : 0.914446 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.25, Z:-0.14 [[ 0.99379099 0.08599955 -0.0705942 2.40562013] [-0.08841714 0.99557382 -0.03186183 -0.25124347] [ 0.06754163 0.03790574 0.99699613 -0.1402889 ] [ 0. 0. 0. 1. ]] SLAMing on 51.70538475 meters Centerline goodness : 0.919782 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.25, Z:-0.14 [[ 0.99376918 0.08607457 -0.07080952 2.40595454] [-0.08845764 0.9955902 -0.03123139 -0.25232393] [ 0.06780903 0.03730044 0.99700081 -0.13969392] [ 0. 0. 0. 1. ]] SLAMing on 51.73538475 meters Centerline goodness : 0.916894 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.25, Z:-0.14 [[ 0.99375142 0.08585036 -0.07132898 2.40697401] [-0.08818098 0.9956469 -0.03018873 -0.25487406] [ 0.06842677 0.03628996 0.9969959 -0.13865781] [ 0. 0. 0. 1. ]] SLAMing on 51.76538475 meters Centerline goodness : 0.917655 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.14 [[ 0.99373532 0.0858018 -0.07161115 2.40758654] [-0.0881013 0.99567195 -0.02958933 -0.25597367] [ 0.0687624 0.035713 0.99699364 -0.13814922] [ 0. 0. 0. 1. ]] SLAMing on 51.795384750000004 meters Centerline goodness : 0.914819 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.14 [[ 0.99374274 0.0853385 -0.07206041 2.40914565] [-0.08762944 0.9957237 -0.02924697 -0.25701871] [ 0.06925636 0.03537858 0.99697137 -0.13815337] [ 0. 0. 0. 1. ]] SLAMing on 51.82538475 meters Centerline goodness : 0.916296 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.14 [[ 0.99371259 0.08564448 -0.0721132 2.4086899 ] [-0.08786816 0.99573161 -0.02824426 -0.25846145] [ 0.06938643 0.03440313 0.99699646 -0.13686444] [ 0. 0. 0. 1. ]] SLAMing on 51.85538475 meters Centerline goodness : 0.920051 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.13 [[ 0.99364941 0.08646858 -0.07200023 2.40668146] [-0.08852295 0.99573885 -0.02584227 -0.26170796] [ 0.06945888 0.03205183 0.99706978 -0.13317629] [ 0. 0. 0. 1. ]] SLAMing on 51.88538475 meters Centerline goodness : 0.919892 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.13 [[ 0.99359899 0.08708042 -0.07195871 2.40545706] [-0.08904475 0.99572501 -0.02455055 -0.26297778] [ 0.06951321 0.03080094 0.99710542 -0.13113797] [ 0. 0. 0. 1. ]] SLAMing on 51.91538475 meters Centerline goodness : 0.919531 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.13 [[ 0.99355344 0.08782729 -0.0716793 2.4039805 ] [-0.08969597 0.99569719 -0.02327513 -0.26436798] [ 0.06932669 0.02955443 0.99715613 -0.12948239] [ 0. 0. 0. 1. ]] SLAMing on 51.94538475 meters Centerline goodness : 0.921209 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.13 [[ 0.99353514 0.0878782 -0.07187038 2.40432147] [-0.08973696 0.99569874 -0.02305002 -0.2642206 ] [ 0.06953565 0.02935044 0.9971476 -0.12918444] [ 0. 0. 0. 1. ]] SLAMing on 51.97538475 meters Centerline goodness : 0.921605 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.26, Z:-0.13 [[ 0.99351845 0.08769639 -0.07232169 2.40561968] [-0.08955953 0.99571752 -0.02292824 -0.26450057] [ 0.07000125 0.02925673 0.99711778 -0.12937153] [ 0. 0. 0. 1. ]] SLAMing on 52.00538475 meters Centerline goodness : 0.921750 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.27, Z:-0.13 [[ 0.99351256 0.08715532 -0.07305297 2.40743585] [-0.08902208 0.9957711 -0.02269318 -0.26528698] [ 0.07076621 0.02904929 0.99706985 -0.12911187] [ 0. 0. 0. 1. ]] SLAMing on 52.03538475 meters Centerline goodness : 0.921528 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.27, Z:-0.13 [[ 0.9935401 0.08576522 -0.07431285 2.41107661] [-0.08764585 0.99589935 -0.02242066 -0.2673254 ] [ 0.07208521 0.02878904 0.99698291 -0.12898968] [ 0. 0. 0. 1. ]] SLAMing on 52.06538475 meters Centerline goodness : 0.922284 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.27, Z:-0.13 [[ 0.99360573 0.08434996 -0.07505154 2.41405576] [-0.08625323 0.99601949 -0.02248445 -0.26932966] [ 0.07285623 0.02881412 0.99692613 -0.12959224] [ 0. 0. 0. 1. ]] SLAMing on 52.09538475 meters Centerline goodness : 0.924733 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.27, Z:-0.13 [[ 0.99358785 0.08407055 -0.07559982 2.41519406] [-0.08594026 0.99606127 -0.02182256 -0.27071525] [ 0.07346741 0.0281797 0.99689941 -0.12885676] [ 0. 0. 0. 1. ]] SLAMing on 52.12538475 meters Centerline goodness : 0.924482 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.27, Z:-0.13 [[ 0.9935667 0.08388991 -0.07607696 2.41594229] [-0.08568136 0.99610977 -0.02059217 -0.27326259] [ 0.07405352 0.02697807 0.99688929 -0.12735361] [ 0. 0. 0. 1. ]] SLAMing on 52.15538475 meters Centerline goodness : 0.924482 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.27, Z:-0.13 [[ 0.9935667 0.08388991 -0.07607696 2.41594229] [-0.08568136 0.99610977 -0.02059217 -0.27326259] [ 0.07405352 0.02697807 0.99688929 -0.12735361] [ 0. 0. 0. 1. ]] SLAMing on 52.18538475 meters Centerline goodness : 0.923492 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.27, Z:-0.13 [[ 0.99352139 0.08419983 -0.07632588 2.41576183] [-0.08592318 0.99610939 -0.01957754 -0.27473596] [ 0.0743805 0.02600887 0.99689071 -0.12591761] [ 0. 0. 0. 1. ]] SLAMing on 52.21538475 meters Centerline goodness : 0.926221 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99346953 0.08459682 -0.07656162 2.41551544] [-0.08625862 0.99609803 -0.01865937 -0.27582328] [ 0.07468435 0.02514162 0.99689024 -0.12458077] [ 0. 0. 0. 1. ]] SLAMing on 52.24538475 meters Centerline goodness : 0.927823 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99306133 0.08881913 -0.07707375 2.41611965] [-0.09007718 0.99585 -0.0129957 -0.27903814] [ 0.07559963 0.01984811 0.99694069 -0.12165212] [ 0. 0. 0. 1. ]] SLAMing on 52.27538475 meters Centerline goodness : 0.927796 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.28, Z:-0.12 [[ 0.99296105 0.09004038 -0.07694856 2.41423492] [-0.0912088 0.99576188 -0.01180013 -0.2801867 ] [ 0.07555996 0.01873545 0.99696523 -0.11984304] [ 0. 0. 0. 1. ]] SLAMing on 52.30538475 meters Centerline goodness : 0.931949 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.28, Z:-0.12 [[ 0.9929207 0.09025409 -0.07721842 2.41400413] [-0.09134356 0.99576208 -0.01068793 -0.28146278] [ 0.07592655 0.01766567 0.99695691 -0.11796814] [ 0. 0. 0. 1. ]] SLAMing on 52.33538475 meters Centerline goodness : 0.931748 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.28, Z:-0.12 [[ 0.99289336 0.09059581 -0.07716982 2.41337728] [-0.09165531 0.9957376 -0.01029285 -0.28165431] [ 0.07590841 0.01729273 0.99696483 -0.11730248] [ 0. 0. 0. 1. ]] SLAMing on 52.365384750000004 meters Centerline goodness : 0.933379 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.28, Z:-0.12 [[ 0.99290482 0.09015858 -0.07753347 2.41429644] [-0.09117798 0.99578734 -0.00970266 -0.28256776] [ 0.07633207 0.01670316 0.99694254 -0.11638466] [ 0. 0. 0. 1. ]] SLAMing on 52.39538475 meters Centerline goodness : 0.934656 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99291641 0.08941057 -0.07824803 2.41612652] [-0.09043097 0.99585656 -0.00958861 -0.28293661] [ 0.07706649 0.01659673 0.99688781 -0.11597234] [ 0. 0. 0. 1. ]] SLAMing on 52.42538475 meters Centerline goodness : 0.930670 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99295342 0.08829627 -0.0790397 2.41911272] [-0.0893579 0.99594948 -0.00999004 -0.28265245] [ 0.07783747 0.01698247 0.99682141 -0.11679276] [ 0. 0. 0. 1. ]] SLAMing on 52.45538475 meters Centerline goodness : 0.930576 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99296075 0.08795702 -0.07932531 2.42039806] [-0.08905708 0.9959719 -0.01043128 -0.28170233] [ 0.07808827 0.01742233 0.9967942 -0.11760755] [ 0. 0. 0. 1. ]] SLAMing on 52.48538475 meters Centerline goodness : 0.930973 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99291262 0.08865784 -0.07914745 2.419614 ] [-0.0897521 0.99591015 -0.01036995 -0.2809167 ] [ 0.07790437 0.01740011 0.99680898 -0.11763215] [ 0. 0. 0. 1. ]] SLAMing on 52.51538475 meters Centerline goodness : 0.931615 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.12 [[ 0.99287257 0.08911279 -0.07913897 2.41885023] [-0.09016931 0.99587753 -0.00987146 -0.28099235] [ 0.07793305 0.01693701 0.99681472 -0.11665047] [ 0. 0. 0. 1. ]] SLAMing on 52.545384750000004 meters Centerline goodness : 0.931702 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99282575 0.08919195 -0.07963561 2.41838307] [-0.09013283 0.99589523 -0.00829224 -0.28279145] [ 0.07856913 0.01541053 0.99678955 -0.11331046] [ 0. 0. 0. 1. ]] SLAMing on 52.57538475 meters Centerline goodness : 0.930386 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99280034 0.08927796 -0.07985565 2.41878258] [-0.09020616 0.99589029 -0.00808529 -0.28274146] [ 0.07880563 0.01523055 0.99677365 -0.11302792] [ 0. 0. 0. 1. ]] SLAMing on 52.60538475 meters Centerline goodness : 0.929422 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99279825 0.08902157 -0.08016728 2.41981895] [-0.08997345 0.9959093 -0.00833355 -0.28204998] [ 0.07909748 0.01548646 0.99674659 -0.11337372] [ 0. 0. 0. 1. ]] SLAMing on 52.63538475 meters Centerline goodness : 0.926547 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99279285 0.08889596 -0.08037324 2.42043404] [-0.08984345 0.99592179 -0.00824298 -0.28205429] [ 0.0793127 0.01540458 0.99673075 -0.11331486] [ 0. 0. 0. 1. ]] SLAMing on 52.66538475 meters Centerline goodness : 0.931700 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99277679 0.08884817 -0.08062407 2.42056872] [-0.08969442 0.99594523 -0.00692875 -0.28387197] [ 0.07968155 0.01411023 0.9967205 -0.11134104] [ 0. 0. 0. 1. ]] SLAMing on 52.69538475 meters Centerline goodness : 0.932459 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99276288 0.08867747 -0.08098249 2.42071937] [-0.08943901 0.99597531 -0.0058181 -0.28632786] [ 0.08014062 0.01301899 0.99669854 -0.10957392] [ 0. 0. 0. 1. ]] SLAMing on 52.72538475 meters Centerline goodness : 0.931859 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99282466 0.08744308 -0.0815653 2.42267829] [-0.08815649 0.99609317 -0.00517959 -0.28895661] [ 0.08079372 0.01233294 0.99665454 -0.10854431] [ 0. 0. 0. 1. ]] SLAMing on 52.75538475 meters Centerline goodness : 0.932397 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99285055 0.08700037 -0.08172344 2.42382262] [-0.08772738 0.9961302 -0.00534095 -0.28929577] [ 0.08094252 0.01247215 0.99664073 -0.10921313] [ 0. 0. 0. 1. ]] SLAMing on 52.78538475 meters Centerline goodness : 0.932912 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99286503 0.08697451 -0.08157486 2.42430664] [-0.08772334 0.99612894 -0.00563422 -0.28903007] [ 0.08076905 0.01275004 0.99665129 -0.11029743] [ 0. 0. 0. 1. ]] SLAMing on 52.81538475 meters Centerline goodness : 0.935073 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99283392 0.087398 -0.08150088 2.4235712 ] [-0.08808212 0.99610151 -0.00482993 -0.28988764] [ 0.08076102 0.01197409 0.99666157 -0.10916047] [ 0. 0. 0. 1. ]] SLAMing on 52.84538475 meters Centerline goodness : 0.937480 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99285313 0.08736224 -0.081305 2.42282075] [-0.08797946 0.99611412 -0.00403327 -0.29195421] [ 0.0806367 0.01115761 0.99668111 -0.10781295] [ 0. 0. 0. 1. ]] SLAMing on 52.87538475 meters Centerline goodness : 0.938138 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99286878 0.08718359 -0.08130568 2.42330861] [-0.08782569 0.99612637 -0.004348 -0.29127769] [ 0.08061166 0.01145772 0.99667973 -0.10840149] [ 0. 0. 0. 1. ]] SLAMing on 52.90538475 meters Centerline goodness : 0.935630 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99292466 0.08635386 -0.08150852 2.42547434] [-0.08705901 0.99618994 -0.00513065 -0.29056265] [ 0.08075491 0.0121904 0.99665944 -0.11025008] [ 0. 0. 0. 1. ]] SLAMing on 52.93538475 meters Centerline goodness : 0.934758 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.9929412 0.08585936 -0.08182879 2.42694767] [-0.08659791 0.99622809 -0.00551295 -0.29039723] [ 0.08104681 0.01256024 0.99663115 -0.11111031] [ 0. 0. 0. 1. ]] SLAMing on 52.96538475 meters Centerline goodness : 0.933730 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99294796 0.08578509 -0.08182466 2.42756593] [-0.08655599 0.99622943 -0.00591466 -0.28955007] [ 0.08100875 0.01295537 0.99662919 -0.11200124] [ 0. 0. 0. 1. ]] SLAMing on 52.99538475 meters Centerline goodness : 0.933350 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99291037 0.08653843 -0.0814868 2.42586342] [-0.08723412 0.99617524 -0.00500966 -0.29063094] [ 0.0807416 0.01208257 0.99666183 -0.11055848] [ 0. 0. 0. 1. ]] SLAMing on 53.02538475 meters Centerline goodness : 0.933350 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99291037 0.08653843 -0.0814868 2.42586342] [-0.08723412 0.99617524 -0.00500966 -0.29063094] [ 0.0807416 0.01208257 0.99666183 -0.11055848] [ 0. 0. 0. 1. ]] SLAMing on 53.05538475 meters Centerline goodness : 0.933449 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.9928773 0.08720684 -0.08117656 2.42473712] [-0.08789702 0.99611721 -0.00496114 -0.28958829] [ 0.08042872 0.01206098 0.99668739 -0.11035058] [ 0. 0. 0. 1. ]] SLAMing on 53.08538475 meters Centerline goodness : 0.935030 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99286605 0.08747642 -0.08102399 2.42396953] [-0.08815206 0.9960955 -0.00479263 -0.28890154] [ 0.08028839 0.01190087 0.99670063 -0.10971825] [ 0. 0. 0. 1. ]] SLAMing on 53.115384750000004 meters Centerline goodness : 0.932819 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.992858 0.08786831 -0.08069788 2.42298891] [-0.08853914 0.9960613 -0.00476561 -0.28707435] [ 0.07996129 0.01187649 0.99672721 -0.10925894] [ 0. 0. 0. 1. ]] SLAMing on 53.14538475 meters Centerline goodness : 0.935082 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99284615 0.08825571 -0.08042048 2.4222745 ] [-0.08894434 0.99602398 -0.00501411 -0.28437674] [ 0.0796582 0.01213118 0.99674842 -0.10921311] [ 0. 0. 0. 1. ]] SLAMing on 53.17538475 meters Centerline goodness : 0.932196 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99285516 0.08821563 -0.08035323 2.42227549] [-0.08890657 0.99602714 -0.00505498 -0.28413058] [ 0.07958807 0.01216279 0.99675363 -0.10925442] [ 0. 0. 0. 1. ]] SLAMing on 53.20538475 meters Centerline goodness : 0.931500 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.9928768 0.08796769 -0.08035756 2.42309247] [-0.08872792 0.99603823 -0.00593234 -0.2823217 ] [ 0.07951735 0.01302004 0.99674845 -0.11062651] [ 0. 0. 0. 1. ]] SLAMing on 53.23538475 meters Centerline goodness : 0.929812 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99286808 0.08799954 -0.0804304 2.42325855] [-0.0887624 0.99603504 -0.00595207 -0.28184287] [ 0.07958772 0.01304881 0.99674246 -0.11058974] [ 0. 0. 0. 1. ]] SLAMing on 53.26538475 meters Centerline goodness : 0.930583 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99286099 0.08823267 -0.08026232 2.42276785] [-0.08899627 0.99601401 -0.00597971 -0.2815348 ] [ 0.07941479 0.01308007 0.99675584 -0.11061132] [ 0. 0. 0. 1. ]] SLAMing on 53.295384750000004 meters Centerline goodness : 0.932300 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99284257 0.08819862 -0.08052719 2.42291491] [-0.08893803 0.99602122 -0.00563489 -0.28206145] [ 0.0797098 0.01275649 0.99673648 -0.10978465] [ 0. 0. 0. 1. ]] SLAMing on 53.32538475 meters Centerline goodness : 0.929506 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99288648 0.08726311 -0.08100362 2.42577199] [-0.08808848 0.99609035 -0.00666539 -0.28120438] [ 0.08010528 0.01375346 0.99669152 -0.11202506] [ 0. 0. 0. 1. ]] SLAMing on 53.35538475 meters Centerline goodness : 0.929794 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99291593 0.08658424 -0.08137027 2.42783621] [-0.08746938 0.99613994 -0.00737027 -0.28050962] [ 0.08041802 0.01443547 0.99665669 -0.11351211] [ 0. 0. 0. 1. ]] SLAMing on 53.38538475 meters Centerline goodness : 0.929217 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99294327 0.0856852 -0.08198606 2.4302083 ] [-0.08662387 0.99620933 -0.00795496 -0.28051666] [ 0.08099366 0.01500078 0.99660173 -0.11458761] [ 0. 0. 0. 1. ]] SLAMing on 53.41538475 meters Centerline goodness : 0.931197 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99291202 0.085829 -0.08221373 2.42995903] [-0.08671947 0.99620591 -0.00731571 -0.28165106] [ 0.0812739 0.01439339 0.99658787 -0.11336265] [ 0. 0. 0. 1. ]] SLAMing on 53.44538475 meters Centerline goodness : 0.928441 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.9928855 0.08613911 -0.08220968 2.42947039] [-0.0870056 0.99618316 -0.00700971 -0.28135243] [ 0.08129209 0.01411254 0.9965904 -0.11261479] [ 0. 0. 0. 1. ]] SLAMing on 53.47538475 meters Centerline goodness : 0.928796 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99286259 0.08648309 -0.08212522 2.4290744 ] [-0.08733956 0.99615479 -0.00688757 -0.28122938] [ 0.08121377 0.01401119 0.99659822 -0.1125338 ] [ 0. 0. 0. 1. ]] SLAMing on 53.50538475 meters Centerline goodness : 0.927754 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.992798 0.08754076 -0.08178478 2.42695934] [-0.08827498 0.99608152 -0.00539818 -0.28244411] [ 0.08099174 0.01257885 0.99663539 -0.11022333] [ 0. 0. 0. 1. ]] SLAMing on 53.53538475 meters Centerline goodness : 0.931368 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99279519 0.08768405 -0.08166523 2.42635963] [-0.08838565 0.99607374 -0.00500908 -0.2829382 ] [ 0.08090537 0.01219103 0.99664723 -0.10953883] [ 0. 0. 0. 1. ]] SLAMing on 53.56538475 meters Centerline goodness : 0.928960 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 0.99279026 0.08804167 -0.08133978 2.42509132] [-0.08865887 0.99605402 -0.00400053 -0.28390028] [ 0.0806666 0.01118318 0.9966784 -0.10788683] [ 0. 0. 0. 1. ]] SLAMing on 53.59538475 meters Centerline goodness : 0.929231 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.28, Z:-0.11 [[ 0.99277079 0.08837688 -0.08121389 2.42423201] [-0.08896198 0.99602849 -0.0036073 -0.28437685] [ 0.08057255 0.01080617 0.99669017 -0.10712741] [ 0. 0. 0. 1. ]] SLAMing on 53.62538475 meters Centerline goodness : 0.927345 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99276105 0.08869294 -0.08098799 2.42363767] [-0.08925874 0.99600272 -0.00338556 -0.28510675] [ 0.08036398 0.01058994 0.99670933 -0.10708334] [ 0. 0. 0. 1. ]] SLAMing on 53.65538475 meters Centerline goodness : 0.927085 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.9927643 0.08878139 -0.08085118 2.42355481] [-0.0893308 0.99599688 -0.00319645 -0.28557051] [ 0.08024374 0.01039582 0.99672106 -0.10717683] [ 0. 0. 0. 1. ]] SLAMing on 53.68538475 meters Centerline goodness : 0.925697 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99314435 0.0845196 -0.08075113 2.4228154 ] [-0.08532875 0.99633088 -0.00661638 -0.28706283] [ 0.07989563 0.01346141 0.99671234 -0.10675548] [ 0. 0. 0. 1. ]] SLAMing on 53.71538475 meters Centerline goodness : 0.928098 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99314943 0.08396105 -0.08126967 2.42408382] [-0.08473241 0.99638517 -0.0060835 -0.2887907 ] [ 0.08046512 0.012928 0.99667358 -0.10602991] [ 0. 0. 0. 1. ]] SLAMing on 53.74538475 meters Centerline goodness : 0.924260 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99322554 0.08266583 -0.08166627 2.42683912] [-0.08348075 0.99648747 -0.00660914 -0.28941609] [ 0.08083306 0.01338193 0.99663782 -0.10751941] [ 0. 0. 0. 1. ]] SLAMing on 53.77538475 meters Centerline goodness : 0.920100 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99328089 0.08188802 -0.0817767 2.42882526] [-0.08275803 0.99654293 -0.00730093 -0.28926816] [ 0.08089614 0.01401956 0.99662393 -0.10947944] [ 0. 0. 0. 1. ]] SLAMing on 53.80538475 meters Centerline goodness : 0.920146 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99327874 0.08198631 -0.08170431 2.42864589] [-0.08283661 0.99653809 -0.00706643 -0.28976924] [ 0.08084211 0.01378704 0.99663156 -0.10931826] [ 0. 0. 0. 1. ]] SLAMing on 53.83538475 meters Centerline goodness : 0.918681 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99326053 0.08238609 -0.08152333 2.42776841] [-0.08317755 0.99651448 -0.0063546 -0.29057167] [ 0.08071565 0.01309268 0.99665118 -0.10833596] [ 0. 0. 0. 1. ]] SLAMing on 53.865384750000004 meters Centerline goodness : 0.918836 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99325002 0.08291451 -0.08111467 2.42628547] [-0.083658 0.99647762 -0.00580477 -0.29093628] [ 0.08034765 0.01255148 0.99668787 -0.10736596] [ 0. 0. 0. 1. ]] SLAMing on 53.89538475 meters Centerline goodness : 0.918738 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99321924 0.08363023 -0.08075602 2.42498737] [-0.08434184 0.99642205 -0.00543533 -0.29130318] [ 0.08001252 0.01220958 0.99671908 -0.10702206] [ 0. 0. 0. 1. ]] SLAMing on 53.92538475 meters Centerline goodness : 0.916145 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.29, Z:-0.11 [[ 0.99322247 0.08398169 -0.08035043 2.42446014] [-0.08473223 0.99638587 -0.00597122 -0.29018806] [ 0.07955856 0.01273902 0.99674879 -0.10816867] [ 0. 0. 0. 1. ]] SLAMing on 53.95538475 meters Centerline goodness : 0.914923 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 9.92904713e-01 8.78694754e-02 -8.01198289e-02 2.42581270e+00] [-8.83399419e-02 9.96087637e-01 -2.33957657e-03 -2.89667653e-01] [ 7.96007937e-02 9.40075764e-03 9.96782494e-01 -1.09263156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98538475 meters Centerline goodness : 0.912023 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99291484 0.08784595 -0.0800201 2.42608532] [-0.0883445 0.99608631 -0.0027045 -0.28915886] [ 0.07946935 0.00975467 0.99678958 -0.11012935] [ 0. 0. 0. 1. ]] SLAMing on 54.01538475 meters Centerline goodness : 0.912083 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99291174 0.08778631 -0.08012391 2.42639804] [-0.08828243 0.99609192 -0.00266366 -0.28967427] [ 0.07957695 0.00971832 0.99678135 -0.11022149] [ 0. 0. 0. 1. ]] SLAMing on 54.045384750000004 meters Centerline goodness : 0.912083 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99291174 0.08778631 -0.08012391 2.42639804] [-0.08828243 0.99609192 -0.00266366 -0.28967427] [ 0.07957695 0.00971832 0.99678135 -0.11022149] [ 0. 0. 0. 1. ]] SLAMing on 54.07538475 meters Centerline goodness : 0.910123 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.992915 0.08740864 -0.08049552 2.42773769] [-0.08794604 0.99612027 -0.00314826 -0.28960355] [ 0.07990804 0.01020521 0.99675 -0.11114324] [ 0. 0. 0. 1. ]] SLAMing on 54.10538475 meters Centerline goodness : 0.912099 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99290465 0.08749112 -0.08053363 2.42775697] [-0.08802934 0.9961129 -0.00315032 -0.28971766] [ 0.07994497 0.01021729 0.99674691 -0.11118518] [ 0. 0. 0. 1. ]] SLAMing on 54.13538475 meters Centerline goodness : 0.911877 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99288963 0.08803076 -0.08012972 2.4264897 ] [-0.0885475 0.9960677 -0.00291148 -0.2894108 ] [ 0.07955833 0.00998606 0.99678019 -0.11081259] [ 0. 0. 0. 1. ]] SLAMing on 54.16538475 meters Centerline goodness : 0.912537 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99289435 0.08799587 -0.08010954 2.4264945 ] [-0.08851451 0.99607055 -0.00293926 -0.289035 ] [ 0.07953611 0.01000923 0.99678173 -0.11078266] [ 0. 0. 0. 1. ]] SLAMing on 54.19538475 meters Centerline goodness : 0.907264 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99293225 0.08767261 -0.0799941 2.42706603] [-0.08823048 0.99609408 -0.00345928 -0.28733614] [ 0.07937837 0.01049275 0.99678933 -0.11157667] [ 0. 0. 0. 1. ]] SLAMing on 54.22538475 meters Centerline goodness : 0.909779 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99292668 0.08767547 -0.08006006 2.42715278] [-0.08823398 0.99609377 -0.00345847 -0.28698783] [ 0.0794441 0.01049802 0.99678404 -0.11142355] [ 0. 0. 0. 1. ]] SLAMing on 54.25538475 meters Centerline goodness : 0.911092 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.29, Z:-0.11 [[ 0.99292933 0.08761371 -0.08009479 2.42765947] [-0.08822687 0.99609179 -0.00414199 -0.28531192] [ 0.07941886 0.01117921 0.99677865 -0.11235413] [ 0. 0. 0. 1. ]] SLAMing on 54.28538475 meters Centerline goodness : 0.911257 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 9.92556834e-01 9.17413834e-02 -8.00902560e-02 2.42831618e+00] [-9.20567412e-02 9.95753732e-01 -2.46256386e-04 -2.84108983e-01] [ 7.97275794e-02 7.61727143e-03 9.96787585e-01 -1.11909733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31538475 meters Centerline goodness : 0.909734 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 9.92535367e-01 9.21599649e-02 -7.98754386e-02 2.42754040e+00] [-9.24903931e-02 9.95713480e-01 -4.39020140e-04 -2.82980943e-01] [ 7.94925909e-02 7.82345373e-03 9.96804756e-01 -1.11957985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34538475 meters Centerline goodness : 0.910713 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 9.92477488e-01 9.29612860e-02 -7.96657679e-02 2.42647367e+00] [-9.32943413e-02 9.95638465e-01 -4.60692495e-04 -2.82058102e-01] [ 7.92754764e-02 7.88959227e-03 9.96821525e-01 -1.11964811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters Centerline goodness : 0.913243 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 9.92492376e-01 9.26807349e-02 -7.98070476e-02 2.42746444e+00] [-9.30479746e-02 9.95661231e-01 -8.87024826e-04 -2.81439098e-01] [ 7.93785732e-02 8.30624951e-03 9.96809936e-01 -1.12886196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40538475 meters Centerline goodness : 0.914321 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.11 [[ 9.92519719e-01 9.19777437e-02 -8.02789005e-02 2.42942050e+00] [-9.23748312e-02 9.95723534e-01 -1.23865142e-03 -2.81527021e-01] [ 7.98216622e-02 8.64513584e-03 9.96771671e-01 -1.13744239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters Centerline goodness : 0.910772 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.12 [[ 9.92542988e-01 9.14689330e-02 -8.05720311e-02 2.43118164e+00] [-9.19174070e-02 9.95764884e-01 -1.86697872e-03 -2.81060837e-01] [ 8.00600287e-02 9.25902881e-03 9.96747040e-01 -1.15209981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46538475 meters Centerline goodness : 0.910003 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.12 [[ 0.99259769 0.0905811 -0.08090046 2.43370643] [-0.09109731 0.99583832 -0.00270509 -0.28086879] [ 0.08031875 0.01005488 0.99671851 -0.11737478] [ 0. 0. 0. 1. ]] SLAMing on 54.49538475 meters Centerline goodness : 0.909484 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.12 [[ 0.99259222 0.09052613 -0.08102909 2.43423072] [-0.09103334 0.9958445 -0.00257977 -0.28122894] [ 0.08045883 0.00993701 0.9967084 -0.11747658] [ 0. 0. 0. 1. ]] SLAMing on 54.52538475 meters Centerline goodness : 0.913080 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.28, Z:-0.12 [[ 0.99258447 0.09047912 -0.08117632 2.43485427] [-0.09100175 0.99584692 -0.00275413 -0.28145556] [ 0.08059 0.01012089 0.99669595 -0.11806951] [ 0. 0. 0. 1. ]] SLAMing on 54.55538475 meters Centerline goodness : 0.912520 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 0.99259584 0.08980609 -0.08178236 2.43666745] [-0.0903307 0.99590808 -0.0027299 -0.28228463] [ 0.08120255 0.01009715 0.99664647 -0.11811558] [ 0. 0. 0. 1. ]] SLAMing on 54.58538475 meters Centerline goodness : 0.911347 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 0.99259543 0.08971901 -0.08188296 2.43711106] [-0.09025833 0.99591416 -0.00290125 -0.28169354] [ 0.0812881 0.01027039 0.99663773 -0.11838589] [ 0. 0. 0. 1. ]] SLAMing on 54.615384750000004 meters Centerline goodness : 0.912900 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 0.99257908 0.08997803 -0.08179679 2.43648906] [-0.09048327 0.99589488 -0.00248352 -0.28198058] [ 0.08123754 0.00986633 0.99664593 -0.11765327] [ 0. 0. 0. 1. ]] SLAMing on 54.64538475 meters Centerline goodness : 0.916255 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 0.99255685 0.09033554 -0.08167249 2.43559964] [-0.09084311 0.99586205 -0.00251274 -0.28015427] [ 0.08110754 0.00991342 0.99665605 -0.1169335 ] [ 0. 0. 0. 1. ]] SLAMing on 54.67538475 meters Centerline goodness : 0.913081 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 9.92152757e-01 9.44861945e-02 -8.18856871e-02 2.43718635e+00] [-9.47378957e-02 9.95501917e-01 8.14835634e-04 -2.77558627e-01] [ 8.15943492e-02 6.94923626e-03 9.96641395e-01 -1.17549913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70538475 meters Centerline goodness : 0.910711 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.28, Z:-0.12 [[ 9.92146202e-01 9.44672255e-02 -8.19869346e-02 2.43756886e+00] [-9.47559550e-02 9.95500463e-01 3.70862207e-04 -2.76264403e-01] [ 8.16530657e-02 7.40080076e-03 9.96633335e-01 -1.18029817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters Centerline goodness : 0.911187 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92121319e-01 9.48190533e-02 -8.18818333e-02 2.43684952e+00] [-9.51336277e-02 9.95464509e-01 5.98691293e-05 -2.73427252e-01] [ 8.15161357e-02 7.73031840e-03 9.96642043e-01 -1.17633404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76538475 meters Centerline goodness : 0.912131 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92107994e-01 9.50749652e-02 -8.17464323e-02 2.43652872e+00] [-9.54089661e-02 9.95438143e-01 -1.80450144e-04 -2.72241516e-01] [ 8.13563605e-02 7.97836862e-03 9.96653143e-01 -1.17920457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters Centerline goodness : 0.911385 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92086981e-01 9.52357892e-02 -8.18142184e-02 2.43591438e+00] [-9.55394764e-02 9.95425621e-01 2.03802551e-04 -2.72140727e-01] [ 8.14593785e-02 7.61429773e-03 9.96647577e-01 -1.16724644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82538475 meters Centerline goodness : 0.910696 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92084814e-01 9.52832657e-02 -8.17852084e-02 2.43604312e+00] [-9.55963856e-02 9.95420174e-01 8.75767342e-05 -2.70364879e-01] [ 8.14189910e-02 7.73148678e-03 9.96649975e-01 -1.16657623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters Centerline goodness : 0.909454 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92080044e-01 9.53822953e-02 -8.17276226e-02 2.43609475e+00] [-9.57076761e-02 9.95409482e-01 -6.40462540e-05 -2.69522238e-01] [ 8.13463416e-02 7.88549985e-03 9.96654700e-01 -1.16959310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88538475 meters Centerline goodness : 0.915172 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92081027e-01 9.54575645e-02 -8.16277495e-02 2.43587659e+00] [-9.57651220e-02 9.95403948e-01 1.47939129e-04 -2.69196165e-01] [ 8.12667060e-02 7.67032378e-03 9.96662876e-01 -1.16592964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters Centerline goodness : 0.913463 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92088128e-01 9.54138602e-02 -8.15925307e-02 2.43574624e+00] [-9.57165020e-02 9.95408615e-01 2.03120866e-04 -2.69011528e-01] [ 8.12372885e-02 7.60823782e-03 9.96665750e-01 -1.16370355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94538475 meters Centerline goodness : 0.917594 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.11 [[ 9.92141930e-01 9.41176174e-02 -8.24394619e-02 2.43765754e+00] [-9.44031175e-02 9.95533958e-01 4.36598836e-04 -2.69407592e-01] [ 8.21123754e-02 7.34937419e-03 9.96595979e-01 -1.14901634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters Centerline goodness : 0.916304 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92179015e-01 9.29862179e-02 -8.32728401e-02 2.44080377e+00] [-9.33368699e-02 9.95634535e-01 -3.19357575e-04 -2.69242437e-01] [ 8.28796196e-02 8.08928613e-03 9.96526734e-01 -1.16304812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00538475 meters Centerline goodness : 0.918392 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92202102e-01 9.24271715e-02 -8.36194136e-02 2.44263560e+00] [-9.28496167e-02 9.95679458e-01 -1.16897283e-03 -2.68214443e-01] [ 8.31500875e-02 8.92388779e-03 9.96497078e-01 -1.17846105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters Centerline goodness : 0.914163 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92212827e-01 9.23062664e-02 -8.36257068e-02 2.44355071e+00] [-9.27926533e-02 9.95683564e-01 -1.93993689e-03 -2.66689638e-01] [ 8.30856734e-02 9.68468148e-03 9.96495348e-01 -1.19386269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06538475 meters Centerline goodness : 0.913360 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.91797872e-01 9.67818762e-02 -8.34880248e-02 2.44401671e+00] [-9.69393715e-02 9.95287912e-01 2.17479319e-03 -2.66497571e-01] [ 8.33051025e-02 5.93632139e-03 9.96506407e-01 -1.19317335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09538475 meters Centerline goodness : 0.916150 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 0.99176623 0.09693208 -0.08368941 2.44389322] [-0.09706545 0.9952749 0.00248347 -0.26657633] [ 0.08353469 0.00566033 0.99648879 -0.11848739] [ 0. 0. 0. 1. ]] SLAMing on 55.12538475 meters Centerline goodness : 0.918704 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 0.99177249 0.09631084 -0.08432998 2.44511169] [-0.09639805 0.9953382 0.00304658 -0.26811808] [ 0.08423026 0.00510774 0.99643323 -0.11734671] [ 0. 0. 0. 1. ]] SLAMing on 55.15538475 meters Centerline goodness : 0.917814 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.27, Z:-0.12 [[ 9.92159158e-01 9.20983995e-02 -8.44872175e-02 2.44462384e+00] [-9.25334464e-02 9.95708805e-01 -1.23946461e-03 -2.67025885e-01] [ 8.40105137e-02 9.04763957e-03 9.96423792e-01 -1.17572073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18538475 meters Centerline goodness : 0.918360 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 9.92180404e-01 9.15561552e-02 -8.48263895e-02 2.44625721e+00] [-9.20345507e-02 9.95754297e-01 -1.73817068e-03 -2.66107955e-01] [ 8.43071016e-02 9.53153753e-03 9.96394230e-01 -1.18478496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters Centerline goodness : 0.914222 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 9.91859526e-01 9.44634180e-02 -8.53893616e-02 2.45010216e+00] [-9.46687174e-02 9.95507463e-01 1.65089029e-03 -2.65605111e-01] [ 8.51616955e-02 6.44625008e-03 9.96346291e-01 -1.19753098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24538475 meters Centerline goodness : 0.918289 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 9.91842108e-01 9.48612510e-02 -8.51503123e-02 2.44967501e+00] [-9.50658551e-02 9.95469605e-01 1.65793848e-03 -2.65282448e-01] [ 8.49218219e-02 6.45047405e-03 9.96366737e-01 -1.20104224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters Centerline goodness : 0.921711 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 0.99176934 0.09545405 -0.08533519 2.44780596] [-0.09547609 0.99542435 0.00383231 -0.26825223] [ 0.08531053 0.0043467 0.99634493 -0.11581858] [ 0. 0. 0. 1. ]] SLAMing on 55.30538475 meters Centerline goodness : 0.924215 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.11 [[ 0.99174476 0.09544667 -0.0856286 2.44763171] [-0.09541583 0.9954275 0.00446218 -0.26883699] [ 0.08566297 0.00374498 0.99631713 -0.11425161] [ 0. 0. 0. 1. ]] SLAMing on 55.33538475 meters Centerline goodness : 0.926615 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.11 [[ 0.99176066 0.09526347 -0.08564847 2.44798435] [-0.09523861 0.99544481 0.0043856 -0.26819106] [ 0.08567611 0.00380758 0.99631577 -0.11430501] [ 0. 0. 0. 1. ]] SLAMing on 55.365384750000004 meters Centerline goodness : 0.926236 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.27, Z:-0.12 [[ 0.99178015 0.09495928 -0.08576047 2.44902507] [-0.09498436 0.99547152 0.00379732 -0.2664925 ] [ 0.0857327 0.0043798 0.99630855 -0.11526843] [ 0. 0. 0. 1. ]] SLAMing on 55.39538475 meters Centerline goodness : 0.922930 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.26, Z:-0.12 [[ 0.99179924 0.0948106 -0.08570427 2.44960046] [-0.09488224 0.99548321 0.00324642 -0.26465303] [ 0.08562496 0.00491201 0.99631533 -0.11611164] [ 0. 0. 0. 1. ]] SLAMing on 55.42538475 meters Centerline goodness : 0.926112 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.26, Z:-0.11 [[ 0.99177446 0.09524752 -0.08550632 2.44792131] [-0.09528596 0.99544328 0.00364085 -0.26329872] [ 0.08546347 0.00453665 0.99633098 -0.11430583] [ 0. 0. 0. 1. ]] SLAMing on 55.45538475 meters Centerline goodness : 0.930789 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.26, Z:-0.11 [[ 0.9917337 0.09580179 -0.08535977 2.44540626] [-0.09577777 0.99539308 0.00438611 -0.26206496] [ 0.08538672 0.00382572 0.99634054 -0.11102523] [ 0. 0. 0. 1. ]] SLAMing on 55.48538475 meters Centerline goodness : 0.929084 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.26, Z:-0.11 [[ 0.99179463 0.09414973 -0.08648265 2.44937867] [-0.09427171 0.99554289 0.00268174 -0.25892561] [ 0.08634968 0.00549313 0.99624975 -0.1127915 ] [ 0. 0. 0. 1. ]] SLAMing on 55.51538475 meters Centerline goodness : 0.925296 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.26, Z:-0.11 [[ 9.91852466e-01 9.30458636e-02 -8.70123697e-02 2.45237892e+00] [-9.32693768e-02 9.95639778e-01 1.50210336e-03 -2.56823226e-01] [ 8.67727409e-02 6.62572457e-03 9.96206099e-01 -1.14805490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545384750000004 meters Centerline goodness : 0.924418 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.12 [[ 9.91905201e-01 9.22455072e-02 -8.72630458e-02 2.45476031e+00] [-9.25760702e-02 9.95705581e-01 2.59914151e-04 -2.54303224e-01] [ 8.69122776e-02 7.82065965e-03 9.96185271e-01 -1.17066536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57538475 meters Centerline goodness : 0.924157 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.12 [[ 0.9916037 0.09492295 -0.08781654 2.45839645] [-0.09497423 0.99547321 0.00360371 -0.25368698] [ 0.08776109 0.00476685 0.99613015 -0.11783324] [ 0. 0. 0. 1. ]] SLAMing on 55.60538475 meters Centerline goodness : 0.922779 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.12 [[ 0.9915568 0.09543786 -0.08778799 2.45746842] [-0.09547529 0.99542462 0.00378216 -0.25353165] [ 0.08774728 0.00463136 0.996132 -0.11715283] [ 0. 0. 0. 1. ]] SLAMing on 55.63538475 meters Centerline goodness : 0.924513 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.11 [[ 0.99141949 0.09743816 -0.08713898 2.45324721] [-0.09739162 0.99523458 0.0047955 -0.25279883] [ 0.08719099 0.00373226 0.99618462 -0.11447269] [ 0. 0. 0. 1. ]] SLAMing on 55.66538475 meters Centerline goodness : 0.924631 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.11 [[ 0.99136895 0.09835721 -0.08668018 2.45174409] [-0.09831943 0.99514374 0.00471549 -0.25107417] [ 0.08672304 0.00384756 0.99622503 -0.11448532] [ 0. 0. 0. 1. ]] SLAMing on 55.69538475 meters Centerline goodness : 0.923660 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.12 [[ 9.90973752e-01 1.02702507e-01 -8.61580993e-02 2.45202570e+00] [-1.02386080e-01 9.94711796e-01 8.09532210e-03 -2.48813143e-01] [ 8.65338875e-02 7.99138337e-04 9.96248587e-01 -1.15279487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72538475 meters Centerline goodness : 0.922349 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.12 [[ 9.90959582e-01 1.03119215e-01 -8.58226956e-02 2.45156373e+00] [-1.02840520e-01 9.94668254e-01 7.67409275e-03 -2.47117613e-01] [ 8.61564572e-02 1.22133488e-03 9.96280871e-01 -1.16070470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75538475 meters Centerline goodness : 0.920045 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.12 [[ 9.90939973e-01 1.03239999e-01 -8.59038598e-02 2.45106649e+00] [-1.02954628e-01 9.94655802e-01 7.75759783e-03 -2.46489070e-01] [ 8.62456669e-02 1.15688616e-03 9.96273229e-01 -1.15156181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78538475 meters Centerline goodness : 0.924828 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.11 [[ 9.90924987e-01 1.03294888e-01 -8.60106699e-02 2.45111447e+00] [-1.03007589e-01 9.94650115e-01 7.78366423e-03 -2.46314570e-01] [ 8.63545355e-02 1.14672438e-03 9.96263810e-01 -1.14940092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81538475 meters Centerline goodness : 0.919990 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.11 [[ 9.90918908e-01 1.02930093e-01 -8.65165549e-02 2.45207932e+00] [-1.02641007e-01 9.94687921e-01 7.79510425e-03 -2.46385982e-01] [ 8.68593229e-02 1.15583017e-03 9.96219917e-01 -1.14390328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84538475 meters Centerline goodness : 0.921552 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.25, Z:-0.11 [[ 9.90943680e-01 1.02561789e-01 -8.66700782e-02 2.45258023e+00] [-1.02287212e-01 9.94725761e-01 7.61493338e-03 -2.45911884e-01] [ 8.69939606e-02 1.31927058e-03 9.96207965e-01 -1.14344683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87538475 meters Centerline goodness : 0.921621 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.11 [[ 9.91099328e-01 1.00089448e-01 -8.77737150e-02 2.45624135e+00] [-9.97835736e-02 9.94977988e-01 7.87666878e-03 -2.46444648e-01] [ 8.81212858e-02 9.51813824e-04 9.96109298e-01 -1.12869524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90538475 meters Centerline goodness : 0.919020 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.11 [[ 9.91170474e-01 9.87531615e-02 -8.84810962e-02 2.45915067e+00] [-9.85147179e-02 9.95110490e-01 7.06848386e-03 -2.45684208e-01] [ 8.87465021e-02 1.71061774e-03 9.96052776e-01 -1.14015346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93538475 meters Centerline goodness : 0.919020 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.11 [[ 9.91170474e-01 9.87531615e-02 -8.84810962e-02 2.45915067e+00] [-9.85147179e-02 9.95110490e-01 7.06848386e-03 -2.45684208e-01] [ 8.87465021e-02 1.71061774e-03 9.96052776e-01 -1.14015346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96538475 meters Centerline goodness : 0.916779 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.25, Z:-0.12 [[ 9.91220612e-01 9.75307478e-02 -8.92717882e-02 2.46219729e+00] [-9.73547995e-02 9.95229587e-01 6.33348923e-03 -2.45325602e-01] [ 8.94636348e-02 2.41315197e-03 9.95987166e-01 -1.15241123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99538475 meters Centerline goodness : 0.911097 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.12 [[ 0.99129533 0.09604603 -0.09004847 2.46559833] [-0.09596581 0.99537089 0.00523008 -0.2442844 ] [ 0.09013395 0.00345702 0.99592365 -0.11691585] [ 0. 0. 0. 1. ]] SLAMing on 56.02538475 meters Centerline goodness : 0.910385 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.12 [[ 0.9913187 0.09560569 -0.0902596 2.46618712] [-0.09553975 0.99541275 0.00506084 -0.24395305] [ 0.0903294 0.00360647 0.99590541 -0.11670258] [ 0. 0. 0. 1. ]] SLAMing on 56.05538475 meters Centerline goodness : 0.908247 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.12 [[ 0.99131619 0.09526214 -0.09064956 2.46703203] [-0.09520309 0.99544539 0.00498513 -0.24422081] [ 0.09071158 0.00368828 0.99587038 -0.11651285] [ 0. 0. 0. 1. ]] SLAMing on 56.08538475 meters Centerline goodness : 0.909439 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.12 [[ 0.99129485 0.09528429 -0.09085938 2.4671368 ] [-0.09520271 0.99544411 0.00524142 -0.24485206] [ 0.09094486 0.00345426 0.99584994 -0.11595254] [ 0. 0. 0. 1. ]] SLAMing on 56.115384750000004 meters Centerline goodness : 0.910108 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.11 [[ 0.99125334 0.09567779 -0.0908987 2.46619809] [-0.09555883 0.99540764 0.00567002 -0.24488905] [ 0.09102376 0.00306575 0.995844 -0.11466892] [ 0. 0. 0. 1. ]] SLAMing on 56.14538475 meters Centerline goodness : 0.908383 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.11 [[ 0.99125739 0.09567779 -0.09085451 2.46618806] [-0.09557335 0.99540714 0.00550958 -0.24412912] [ 0.09096437 0.00322185 0.99584894 -0.11475871] [ 0. 0. 0. 1. ]] SLAMing on 56.17538475 meters Centerline goodness : 0.906717 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.11 [[ 0.99127955 0.09539728 -0.09090768 2.46606392] [-0.09525896 0.99543522 0.0058691 -0.24398905] [ 0.0910526 0.00284185 0.99584203 -0.1136697 ] [ 0. 0. 0. 1. ]] SLAMing on 56.20538475 meters Centerline goodness : 0.902881 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.24, Z:-0.11 [[ 9.91681379e-01 9.05629536e-02 -9.14679893e-02 2.46669707e+00] [-9.07749273e-02 9.95869718e-01 1.84871234e-03 -2.44019657e-01] [ 9.12576255e-02 6.46966647e-03 9.95806301e-01 -1.13460749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23538475 meters Centerline goodness : 0.905685 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.25, Z:-0.11 [[ 9.91717768e-01 8.97619117e-02 -9.18622175e-02 2.46755481e+00] [-8.99214756e-02 9.95945945e-01 2.40889906e-03 -2.45770332e-01] [ 9.17060304e-02 5.87143816e-03 9.95768814e-01 -1.12297522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26538475 meters Centerline goodness : 0.908273 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.25, Z:-0.11 [[ 9.92075775e-01 8.55564133e-02 -9.20095425e-02 2.46705179e+00] [-8.60696823e-02 9.96287806e-01 -1.61760875e-03 -2.45223371e-01] [ 9.15295885e-02 9.52402254e-03 9.95756811e-01 -1.12309842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295384750000004 meters Centerline goodness : 0.906196 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.25, Z:-0.11 [[ 0.9924965 0.07980432 -0.09263888 2.46886569] [-0.08068596 0.99672267 -0.0058049 -0.2454289 ] [ 0.09187202 0.013236 0.99568285 -0.1123628 ] [ 0. 0. 0. 1. ]] SLAMing on 56.32538475 meters Centerline goodness : 0.904350 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.25, Z:-0.11 [[ 0.99286725 0.07414215 -0.0933679 2.47116685] [-0.07542241 0.99709895 -0.01025391 -0.24547817] [ 0.09233679 0.0172228 0.99557887 -0.11325532] [ 0. 0. 0. 1. ]] SLAMing on 56.35538475 meters Centerline goodness : 0.904261 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.25, Z:-0.11 [[ 0.99289891 0.07284921 -0.0940465 2.47384017] [-0.07416675 0.99718966 -0.01058625 -0.24590654] [ 0.09301099 0.0174862 0.99551152 -0.11383074] [ 0. 0. 0. 1. ]] SLAMing on 56.38538475 meters Centerline goodness : 0.901863 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.25, Z:-0.11 [[ 0.99293839 0.07181698 -0.09442283 2.47602158] [-0.07319062 0.99725551 -0.01116144 -0.24572961] [ 0.09336211 0.01799349 0.99546961 -0.11499337] [ 0. 0. 0. 1. ]] SLAMing on 56.41538475 meters Centerline goodness : 0.902086 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.12 [[ 0.9929916 0.07000942 -0.09521749 2.47979571] [-0.07151447 0.99736145 -0.01248268 -0.24269408] [ 0.09409235 0.01920463 0.99537823 -0.11653789] [ 0. 0. 0. 1. ]] SLAMing on 56.44538475 meters Centerline goodness : 0.900000 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.12 [[ 0.99298635 0.06949735 -0.09564635 2.48103002] [-0.07111579 0.99737516 -0.01361349 -0.23924789] [ 0.09444919 0.02031998 0.99532228 -0.11711089] [ 0. 0. 0. 1. ]] SLAMing on 56.47538475 meters Centerline goodness : 0.895671 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.12 [[ 0.99296516 0.06937307 -0.09595605 2.48166873] [-0.07107509 0.99736658 -0.0144307 -0.2367373 ] [ 0.09470226 0.02114927 0.99528096 -0.11754032] [ 0. 0. 0. 1. ]] SLAMing on 56.50538475 meters Centerline goodness : 0.895812 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.12 [[ 0.99268685 0.07302661 -0.09612453 2.48285711] [-0.07446486 0.99715783 -0.01145626 -0.23258646] [ 0.09501471 0.01853038 0.99530339 -0.11738981] [ 0. 0. 0. 1. ]] SLAMing on 56.53538475 meters Centerline goodness : 0.893155 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.12 [[ 0.99267751 0.07308745 -0.09617479 2.48281579] [-0.07458032 0.99714262 -0.01201562 -0.22955878] [ 0.09502179 0.01910038 0.99529193 -0.11735804] [ 0. 0. 0. 1. ]] SLAMing on 56.56538475 meters Centerline goodness : 0.888351 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.12 [[ 0.99240369 0.07620903 -0.09657692 2.48471666] [-0.07742225 0.99695891 -0.00887231 -0.22625335] [ 0.09560707 0.01628212 0.99528598 -0.11695941] [ 0. 0. 0. 1. ]] SLAMing on 56.59538475 meters Centerline goodness : 0.890344 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.12 [[ 0.99213226 0.07917867 -0.09697583 2.48674706] [-0.08009294 0.99677186 -0.00556556 -0.22379118] [ 0.09622211 0.01328885 0.99527118 -0.11645607] [ 0. 0. 0. 1. ]] SLAMing on 56.62538475 meters Centerline goodness : 0.888568 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.12 [[ 0.99212403 0.07890512 -0.09728255 2.48716851] [-0.07983847 0.99679133 -0.005733 -0.22225348] [ 0.09651804 0.01345473 0.99524029 -0.1158664 ] [ 0. 0. 0. 1. ]] SLAMing on 56.65538475 meters Centerline goodness : 0.888853 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.12 [[ 0.9921278 0.07859076 -0.09749829 2.48736941] [-0.07953111 0.99681557 -0.00579021 -0.22114347] [ 0.09673276 0.01349877 0.99521885 -0.11511123] [ 0. 0. 0. 1. ]] SLAMing on 56.68538475 meters Centerline goodness : 0.891099 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.11 [[ 0.99218734 0.07683513 -0.09828861 2.48934721] [-0.07782245 0.99694767 -0.00624535 -0.21895208] [ 0.09750873 0.01384561 0.99513836 -0.1138407 ] [ 0. 0. 0. 1. ]] SLAMing on 56.71538475 meters Centerline goodness : 0.890212 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.11 [[ 0.99218913 0.07626656 -0.0987124 2.49009595] [-0.07725846 0.99699145 -0.00625957 -0.21804733] [ 0.09793803 0.01383704 0.99509632 -0.11303774] [ 0. 0. 0. 1. ]] SLAMing on 56.74538475 meters Centerline goodness : 0.891081 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.21, Z:-0.11 [[ 0.99222412 0.07483517 -0.09945345 2.49169191] [-0.07590715 0.99709008 -0.00703335 -0.21486798] [ 0.0986377 0.01452789 0.99501736 -0.11200714] [ 0. 0. 0. 1. ]] SLAMing on 56.77538475 meters Centerline goodness : 0.888997 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.21, Z:-0.11 [[ 0.99220388 0.07436097 -0.10000951 2.49268241] [-0.0754613 0.99712231 -0.00725944 -0.21307211] [ 0.09918189 0.01474969 0.99496 -0.11130947] [ 0. 0. 0. 1. ]] SLAMing on 56.80538475 meters Centerline goodness : 0.888474 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.21, Z:-0.11 [[ 0.99214545 0.07484675 -0.10022656 2.49482451] [-0.07587419 0.99709639 -0.00647339 -0.2076237 ] [ 0.09945103 0.01402715 0.99494358 -0.11129125] [ 0. 0. 0. 1. ]] SLAMing on 56.83538475 meters Centerline goodness : 0.887418 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.21, Z:-0.11 [[ 0.99183848 0.07797852 -0.1008751 2.49704486] [-0.07864394 0.9968993 -0.00263055 -0.20656641] [ 0.10035719 0.01054229 0.99489562 -0.11037241] [ 0. 0. 0. 1. ]] SLAMing on 56.865384750000004 meters Centerline goodness : 0.886943 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.20, Z:-0.11 [[ 9.91556650e-01 8.05147622e-02 -1.01650295e-01 2.49968970e+00] [-8.09387580e-02 9.96719075e-01 -4.68712329e-05 -2.02095799e-01] [ 1.01313014e-01 8.27392411e-03 9.94820192e-01 -1.09815982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89538475 meters Centerline goodness : 0.887003 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.20, Z:-0.11 [[ 9.91557530e-01 8.01867703e-02 -1.01900667e-01 2.50021473e+00] [-8.06789041e-02 9.96739891e-01 -7.10713383e-04 -1.99120423e-01] [ 1.01511470e-01 8.92594733e-03 9.94794325e-01 -1.09716907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92538475 meters Centerline goodness : 0.884423 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.20, Z:-0.11 [[ 9.91549153e-01 7.99283045e-02 -1.02184847e-01 2.50069799e+00] [-8.04954758e-02 9.96753945e-01 -1.43238413e-03 -1.96214074e-01] [ 1.01738661e-01 9.64569714e-03 9.94764397e-01 -1.09651507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95538475 meters Centerline goodness : 0.886487 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.19, Z:-0.11 [[ 9.91257128e-01 8.29502993e-02 -1.02608745e-01 2.50237129e+00] [-8.32341810e-02 9.96528857e-01 1.51928332e-03 -1.92664015e-01] [ 1.02378600e-01 7.03455442e-03 9.94720633e-01 -1.08948002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98538475 meters Centerline goodness : 0.883286 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.19, Z:-0.11 [[ 9.91242073e-01 8.26959715e-02 -1.02958874e-01 2.50317289e+00] [-8.30501498e-02 9.96545007e-01 8.49415285e-04 -1.90035428e-01] [ 1.02673395e-01 7.70877373e-03 9.94685251e-01 -1.09065185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01538475 meters Centerline goodness : 0.879925 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.19, Z:-0.11 [[ 0.99089797 0.08615381 -0.10343471 2.50528917] [-0.0862436 0.99626753 0.00361224 -0.18645993] [ 0.10335985 0.00534122 0.99462969 -0.10940905] [ 0. 0. 0. 1. ]] SLAMing on 57.045384750000004 meters Centerline goodness : 0.877956 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.18, Z:-0.11 [[ 0.99086253 0.08658283 -0.10341591 2.50515114] [-0.08672924 0.99622713 0.00308857 -0.1833453 ] [ 0.10329316 0.00590883 0.9946334 -0.10967563] [ 0. 0. 0. 1. ]] SLAMing on 57.07538475 meters Centerline goodness : 0.877107 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.18, Z:-0.11 [[ 0.99044556 0.09151646 -0.10316168 2.50445869] [-0.09131516 0.99579962 0.00668236 -0.17985362] [ 0.1033399 0.00280172 0.99464215 -0.10887044] [ 0. 0. 0. 1. ]] SLAMing on 57.10538475 meters Centerline goodness : 0.877127 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.18, Z:-0.11 [[ 0.99038742 0.0925214 -0.10282288 2.50362965] [-0.09234718 0.99570589 0.00646371 -0.17687329] [ 0.10297937 0.00309383 0.99467868 -0.10919054] [ 0. 0. 0. 1. ]] SLAMing on 57.13538475 meters Centerline goodness : 0.869409 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 9.89924979e-01 9.74994407e-02 -1.02676162e-01 2.50402648e+00] [-9.70080613e-02 9.95235541e-01 9.78031744e-03 -1.73980255e-01] [ 1.03140541e-01 2.78634844e-04 9.94666754e-01 -1.09805981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16538475 meters Centerline goodness : 0.868440 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 0.98942424 0.10285009 -0.10228162 2.50328369] [-0.10197235 0.99469168 0.01378757 -0.17270657] [ 0.10315673 -0.00321186 0.99465993 -0.10948344] [ 0. 0. 0. 1. ]] SLAMing on 57.19538475 meters Centerline goodness : 0.868765 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 0.98933834 0.10405318 -0.101895 2.50164611] [-0.10316447 0.99456624 0.01396742 -0.17144474] [ 0.10279468 -0.00330656 0.9946971 -0.10910005] [ 0. 0. 0. 1. ]] SLAMing on 57.22538475 meters Centerline goodness : 0.867558 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 0.98926652 0.10543493 -0.10116926 2.49951135] [-0.10452087 0.99441976 0.01430853 -0.1698588 ] [ 0.10211333 -0.00358065 0.99476633 -0.10875064] [ 0. 0. 0. 1. ]] SLAMing on 57.25538475 meters Centerline goodness : 0.870891 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 0.98877135 0.11061939 -0.10047178 2.49800677] [-0.10925618 0.99383226 0.01898773 -0.16977564] [ 0.10195251 -0.00779736 0.99475871 -0.10748565] [ 0. 0. 0. 1. ]] SLAMing on 57.28538475 meters Centerline goodness : 0.873575 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.17, Z:-0.11 [[ 0.9887282 0.11137441 -0.10006143 2.49671309] [-0.10998149 0.9937453 0.01934808 -0.17023366] [ 0.10159045 -0.00812509 0.99479313 -0.10715423] [ 0. 0. 0. 1. ]] SLAMing on 57.31538475 meters Centerline goodness : 0.872263 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:-0.11 [[ 0.98910858 0.10829844 -0.09967784 2.4947998 ] [-0.10727451 0.99410718 0.01559143 -0.16962302] [ 0.10077899 -0.00472872 0.9948976 -0.10747363] [ 0. 0. 0. 1. ]] SLAMing on 57.34538475 meters Centerline goodness : 0.881413 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:-0.11 [[ 9.89513215e-01 1.05183247e-01 -9.89953629e-02 2.49237744e+00] [-1.04483450e-01 9.94451282e-01 1.22415849e-02 -1.71066080e-01] [ 9.97336752e-02 -1.76983304e-03 9.95012594e-01 -1.07700227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37538475 meters Centerline goodness : 0.883516 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:-0.11 [[ 9.89515788e-01 1.04827144e-01 -9.93467408e-02 2.49309295e+00] [-1.04062727e-01 9.94487593e-01 1.28598348e-02 -1.73214822e-01] [ 1.00147161e-01 -2.38671682e-03 9.94969773e-01 -1.07124600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40538475 meters Centerline goodness : 0.882643 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.18, Z:-0.11 [[ 9.89948348e-01 1.01156750e-01 -9.88411898e-02 2.49112184e+00] [-1.00664911e-01 9.94870496e-01 9.96349548e-03 -1.77046571e-01] [ 9.93420584e-02 8.64936566e-05 9.95053339e-01 -1.06981911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43538475 meters Centerline goodness : 0.884838 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.18, Z:-0.11 [[ 0.99033808 0.09712884 -0.09897718 2.49120057] [-0.09701141 0.99526512 0.00601008 -0.1777998 ] [ 0.09909229 0.0036499 0.99507155 -0.1080399 ] [ 0. 0. 0. 1. ]] SLAMing on 57.46538475 meters Centerline goodness : 0.884826 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.18, Z:-0.11 [[ 0.99034328 0.09697615 -0.09907481 2.49202847] [-0.09681318 0.99528159 0.00646277 -0.18077514] [ 0.09923407 0.00319139 0.995059 -0.10865267] [ 0. 0. 0. 1. ]] SLAMing on 57.49538475 meters Centerline goodness : 0.884430 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.19, Z:-0.11 [[ 0.99063512 0.09479896 -0.09826092 2.49113239] [-0.09484551 0.99548311 0.00420788 -0.18525976] [ 0.09821599 0.00515113 0.99515179 -0.11061583] [ 0. 0. 0. 1. ]] SLAMing on 57.52538475 meters Centerline goodness : 0.883157 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.19, Z:-0.11 [[ 0.99061286 0.09512663 -0.09816864 2.49155602] [-0.09513497 0.99545372 0.00460676 -0.1874557 ] [ 0.09816056 0.00477575 0.99515913 -0.11151202] [ 0. 0. 0. 1. ]] SLAMing on 57.55538475 meters Centerline goodness : 0.880468 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.19, Z:-0.11 [[ 0.99054932 0.09673774 -0.09723094 2.49165615] [-0.09666545 0.99530193 0.00546495 -0.19038466] [ 0.09730281 0.00398557 0.99524684 -0.11425321] [ 0. 0. 0. 1. ]] SLAMing on 57.58538475 meters Centerline goodness : 0.879258 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.19, Z:-0.12 [[ 0.99050753 0.09741087 -0.09698427 2.49158647] [-0.09731027 0.99523732 0.00577805 -0.19182098] [ 0.09708521 0.00371437 0.99526914 -0.1152003 ] [ 0. 0. 0. 1. ]] SLAMing on 57.61538475 meters Centerline goodness : 0.873288 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.20, Z:-0.12 [[ 0.99038111 0.09957652 -0.09607166 2.49106921] [-0.09937909 0.99502607 0.00684968 -0.19531799] [ 0.09627588 0.00276372 0.99535085 -0.11769781] [ 0. 0. 0. 1. ]] SLAMing on 57.64538475 meters Centerline goodness : 0.868511 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.20, Z:-0.12 [[ 9.89928692e-01 1.04141454e-01 -9.58944373e-02 2.49287877e+00] [-1.03524753e-01 9.94561572e-01 1.13975847e-02 -1.99772675e-01] [ 9.65598833e-02 -1.35534824e-03 9.95326254e-01 -1.19509055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67538475 meters Centerline goodness : 0.869707 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.20, Z:-0.12 [[ 9.89851055e-01 1.05110249e-01 -9.56385098e-02 2.49201434e+00] [-1.04430362e-01 9.94458584e-01 1.21006157e-02 -2.01682350e-01] [ 9.63804357e-02 -1.99024298e-03 9.95342579e-01 -1.19564934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70538475 meters Centerline goodness : 0.873514 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.21, Z:-0.12 [[ 9.89973233e-01 1.05762755e-01 -9.36335291e-02 2.48414074e+00] [-1.05222009e-01 9.94391111e-01 1.07073861e-02 -2.06008494e-01] [ 9.42407917e-02 -7.47717578e-04 9.95549152e-01 -1.18978301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73538475 meters Centerline goodness : 0.871556 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.21, Z:-0.12 [[ 9.89903579e-01 1.06817297e-01 -9.31717151e-02 2.48235584e+00] [-1.06156369e-01 9.94276607e-01 1.20355170e-02 -2.09066377e-01] [ 9.39240582e-02 -2.02323034e-03 9.95577309e-01 -1.17992157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76538475 meters Centerline goodness : 0.872876 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.21, Z:-0.12 [[ 0.98982732 0.10783629 -0.09280734 2.48064482] [-0.10705305 0.99416312 0.01339147 -0.21211028] [ 0.09370972 -0.00331993 0.99559403 -0.11689594] [ 0. 0. 0. 1. ]] SLAMing on 57.795384750000004 meters Centerline goodness : 0.872145 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.12 [[ 9.90120633e-01 1.06014488e-01 -9.17717854e-02 2.47677161e+00] [-1.05412770e-01 9.94363287e-01 1.13929995e-02 -2.16916951e-01] [ 9.24623172e-02 -1.60652575e-03 9.95714888e-01 -1.16714621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82538475 meters Centerline goodness : 0.872145 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.12 [[ 9.90120633e-01 1.06014488e-01 -9.17717854e-02 2.47677161e+00] [-1.05412770e-01 9.94363287e-01 1.13929995e-02 -2.16916951e-01] [ 9.24623172e-02 -1.60652575e-03 9.95714888e-01 -1.16714621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85538475 meters Centerline goodness : 0.874534 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.12 [[ 0.99008567 0.10626584 -0.09185828 2.47648554] [-0.10556718 0.99433429 0.0124454 -0.22049757] [ 0.09266036 -0.00262479 0.99569431 -0.11591605] [ 0. 0. 0. 1. ]] SLAMing on 57.88538475 meters Centerline goodness : 0.874989 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.23, Z:-0.12 [[ 9.90431799e-01 1.03099948e-01 -9.17346834e-02 2.47497875e+00] [-1.02590371e-01 9.94670714e-01 1.02658296e-02 -2.25757680e-01] [ 9.23042095e-02 -7.56508818e-04 9.95730566e-01 -1.15362307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters Centerline goodness : 0.876219 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.12 [[ 9.90829828e-01 9.87012081e-02 -9.22730941e-02 2.47654198e+00] [-9.84660161e-02 9.95115020e-01 7.10921075e-03 -2.30809706e-01] [ 9.25240296e-02 2.04174590e-03 9.95708359e-01 -1.16690877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94538475 meters Centerline goodness : 0.873908 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.12 [[ 0.99121241 0.09443025 -0.09263307 2.47747512] [-0.09454552 0.99551555 0.00315318 -0.23252907] [ 0.09251542 0.00563257 0.99569532 -0.11816199] [ 0. 0. 0. 1. ]] SLAMing on 57.97538475 meters Centerline goodness : 0.876299 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.12 [[ 0.99128364 0.09295255 -0.0933626 2.48038956] [-0.09301412 0.99565791 0.00370132 -0.23683429] [ 0.09330126 0.00501498 0.99562529 -0.11828315] [ 0. 0. 0. 1. ]] SLAMing on 58.00538475 meters Centerline goodness : 0.876072 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.12 [[ 0.99199503 0.08450847 -0.09383055 2.48196101] [-0.08514001 0.99636523 -0.00274081 -0.24293583] [ 0.09325788 0.01070761 0.99558441 -0.11976276] [ 0. 0. 0. 1. ]] SLAMing on 58.03538475 meters Centerline goodness : 0.874466 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.25, Z:-0.12 [[ 0.99215892 0.08197965 -0.09433993 2.48491657] [-0.0825924 0.99658001 -0.00260227 -0.24753006] [ 0.09380396 0.01037363 0.99553664 -0.11959705] [ 0. 0. 0. 1. ]] SLAMing on 58.06538475 meters Centerline goodness : 0.877418 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.25, Z:-0.12 [[ 0.99280212 0.07303694 -0.0949187 2.48598831] [-0.07426833 0.99719303 -0.00950104 -0.25316088] [ 0.09395834 0.0164821 0.99543969 -0.12026224] [ 0. 0. 0. 1. ]] SLAMing on 58.09538475 meters Centerline goodness : 0.879567 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.12 [[ 0.99282503 0.07172666 -0.09567517 2.4884295 ] [-0.07289835 0.99730052 -0.00880343 -0.25703026] [ 0.09478545 0.01571483 0.99537368 -0.11966569] [ 0. 0. 0. 1. ]] SLAMing on 58.12538475 meters Centerline goodness : 0.879572 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.12 [[ 0.99310295 0.06638236 -0.09664322 2.49169606] [-0.06790471 0.99761293 -0.01254587 -0.26055365] [ 0.0955797 0.01902187 0.99524002 -0.12106452] [ 0. 0. 0. 1. ]] SLAMing on 58.15538475 meters Centerline goodness : 0.877565 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.12 [[ 0.99308135 0.06591778 -0.09718168 2.4933002 ] [-0.06737012 0.99765902 -0.01173616 -0.26313118] [ 0.09618056 0.01820211 0.99519746 -0.12058144] [ 0. 0. 0. 1. ]] SLAMing on 58.18538475 meters Centerline goodness : 0.879813 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.12 [[ 0.9930827 0.06560079 -0.09738221 2.49377958] [-0.06688713 0.99771043 -0.01000042 -0.26758523] [ 0.09650321 0.01644486 0.99519681 -0.11868693] [ 0. 0. 0. 1. ]] SLAMing on 58.21538475 meters Centerline goodness : 0.879557 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.12 [[ 0.99306219 0.06581919 -0.09744396 2.49362321] [-0.06702923 0.99770866 -0.00919316 -0.26911016] [ 0.0966156 0.01566098 0.99519855 -0.11784265] [ 0. 0. 0. 1. ]] SLAMing on 58.24538475 meters Centerline goodness : 0.882563 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.12 [[ 0.99302979 0.06616741 -0.09753824 2.49334241] [-0.06727575 0.99770142 -0.00811482 -0.27047886] [ 0.0967771 0.01462022 0.99519869 -0.11645642] [ 0. 0. 0. 1. ]] SLAMing on 58.27538475 meters Centerline goodness : 0.881326 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.12 [[ 0.99300883 0.06653217 -0.09750354 2.49287135] [-0.06760408 0.9976823 -0.00772772 -0.27025617] [ 0.09676341 0.01426533 0.99520518 -0.11581965] [ 0. 0. 0. 1. ]] SLAMing on 58.30538475 meters Centerline goodness : 0.883223 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.11 [[ 0.99272383 0.07101226 -0.0972453 2.4924366 ] [-0.07166472 0.99742355 -0.00322871 -0.2700187 ] [ 0.09676547 0.01017428 0.99525521 -0.11446043] [ 0. 0. 0. 1. ]] SLAMing on 58.33538475 meters Centerline goodness : 0.884730 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.11 [[ 9.92397225e-01 7.50845754e-02 -9.75195089e-02 2.49313775e+00] [-7.53023905e-02 9.97159690e-01 1.45025897e-03 -2.70344501e-01] [ 9.73514153e-02 5.90421916e-03 9.95232557e-01 -1.12728624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36538475 meters Centerline goodness : 0.885025 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.11 [[ 0.99205457 0.08002475 -0.09707609 2.49177073] [-0.07989333 0.99678961 0.0052464 -0.26764029] [ 0.09718428 0.00255102 0.99526314 -0.11170635] [ 0. 0. 0. 1. ]] SLAMing on 58.39538475 meters Centerline goodness : 0.884008 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.11 [[ 0.9920177 0.08087105 -0.09675101 2.49050202] [-0.08078373 0.99671997 0.00482576 -0.26469042] [ 0.09682392 0.00302867 0.99529692 -0.11186643] [ 0. 0. 0. 1. ]] SLAMing on 58.42538475 meters Centerline goodness : 0.883809 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.11 [[ 0.99198461 0.08130692 -0.09672501 2.49006434] [-0.08126206 0.99668302 0.00440962 -0.26179739] [ 0.0967627 0.0034858 0.99530138 -0.11186031] [ 0. 0. 0. 1. ]] SLAMing on 58.45538475 meters Centerline goodness : 0.881243 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.11 [[ 0.99197841 0.08113179 -0.09693538 2.49078761] [-0.08116748 0.99669404 0.00358169 -0.25801852] [ 0.09690551 0.00431505 0.99528423 -0.11223816] [ 0. 0. 0. 1. ]] SLAMing on 58.48538475 meters Centerline goodness : 0.881481 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.26, Z:-0.11 [[ 0.9920296 0.07900384 -0.09816144 2.49458224] [-0.07911814 0.9968615 0.00273374 -0.2566863 ] [ 0.09806933 0.0050544 0.99516675 -0.1121722 ] [ 0. 0. 0. 1. ]] SLAMing on 58.51538475 meters Centerline goodness : 0.879844 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.26, Z:-0.11 [[ 9.92050811e-01 7.76478918e-02 -9.90252199e-02 2.49735552e+00] [-7.77949458e-02 9.96966537e-01 2.38132056e-03 -2.56496453e-01] [ 9.89097351e-02 5.34127062e-03 9.95082075e-01 -1.12272500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545384750000004 meters Centerline goodness : 0.877656 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.25, Z:-0.11 [[ 0.99242433 0.07063521 -0.10052173 2.50264754] [-0.07130473 0.99744983 -0.00307863 -0.25385199] [ 0.10004792 0.01022299 0.9949301 -0.11388495] [ 0. 0. 0. 1. ]] SLAMing on 58.57538475 meters Centerline goodness : 0.878375 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.11 [[ 0.99244348 0.06923973 -0.10130051 2.50531835] [-0.06994985 0.99754447 -0.00347048 -0.25384538] [ 0.10081147 0.01053021 0.99484982 -0.11409319] [ 0. 0. 0. 1. ]] SLAMing on 58.60538475 meters Centerline goodness : 0.877913 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.11 [[ 0.99247225 0.06619929 -0.10303636 2.51097503] [-0.06694528 0.99774943 -0.00379505 -0.25335648] [ 0.10255324 0.01066428 0.99467035 -0.11326937] [ 0. 0. 0. 1. ]] SLAMing on 58.63538475 meters Centerline goodness : 0.879119 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.25, Z:-0.11 [[ 0.9924683 0.0651857 -0.10371832 2.51302411] [-0.06596595 0.99781342 -0.00410686 -0.25267643] [ 0.10322383 0.0109178 0.99459823 -0.11320877] [ 0. 0. 0. 1. ]] SLAMing on 58.66538475 meters Centerline goodness : 0.877430 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.11 [[ 0.99250109 0.06369151 -0.10433107 2.51574642] [-0.06456369 0.99790106 -0.00500047 -0.24962526] [ 0.1037936 0.01169897 0.99453005 -0.11365088] [ 0. 0. 0. 1. ]] SLAMing on 58.69538475 meters Centerline goodness : 0.876490 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.25, Z:-0.11 [[ 0.99250238 0.06370303 -0.10431175 2.51571679] [-0.06460974 0.99789636 -0.00533305 -0.24756353] [ 0.10375258 0.01203262 0.99453035 -0.11368294] [ 0. 0. 0. 1. ]] SLAMing on 58.72538475 meters Centerline goodness : 0.877398 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.24, Z:-0.11 [[ 9.92249446e-01 6.77903354e-02 -1.04141769e-01 2.51558070e+00] [-6.83496148e-02 9.97659794e-01 -1.80691577e-03 -2.44064147e-01] [ 1.03775564e-01 8.91096096e-03 9.94560821e-01 -1.12688795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters Centerline goodness : 0.878013 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.24, Z:-0.11 [[ 9.91961029e-01 7.18268749e-02 -1.04183571e-01 2.51607180e+00] [-7.19970968e-02 9.97402566e-01 2.13080677e-03 -2.42464158e-01] [ 1.04066010e-01 5.38723738e-03 9.94555802e-01 -1.11752443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78538475 meters Centerline goodness : 0.877625 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.24, Z:-0.11 [[ 9.91447288e-01 7.95318632e-02 -1.03474428e-01 2.51335111e+00] [-7.91510737e-02 9.96832214e-01 7.78748792e-03 -2.36616537e-01] [ 1.03765997e-01 4.69228312e-04 9.94601628e-01 -1.09727922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81538475 meters Centerline goodness : 0.875053 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.23, Z:-0.11 [[ 0.99109033 0.084074 -0.1033031 2.51309641] [-0.08333321 0.99645568 0.01147375 -0.23411827] [ 0.1039016 -0.00276294 0.99458374 -0.10905579] [ 0. 0. 0. 1. ]] SLAMing on 58.84538475 meters Centerline goodness : 0.872615 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.23, Z:-0.11 [[ 0.99033129 0.09309006 -0.10285028 2.51274919] [-0.09162495 0.99561442 0.01888906 -0.22982812] [ 0.10415761 -0.00928277 0.99451748 -0.10800155] [ 0. 0. 0. 1. ]] SLAMing on 58.87538475 meters Centerline goodness : 0.874574 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.23, Z:-0.11 [[ 0.99025964 0.09412497 -0.10259794 2.51197225] [-0.09270575 0.9955212 0.01852506 -0.22604605] [ 0.1038821 -0.0088332 0.99455039 -0.10845919] [ 0. 0. 0. 1. ]] SLAMing on 58.90538475 meters Centerline goodness : 0.875286 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.22, Z:-0.11 [[ 0.99021717 0.09487785 -0.10231395 2.51120458] [-0.09352287 0.99545493 0.01797087 -0.22294263] [ 0.10355396 -0.00822637 0.99458982 -0.10904283] [ 0. 0. 0. 1. ]] SLAMing on 58.93538475 meters Centerline goodness : 0.873571 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.22, Z:-0.11 [[ 0.99011262 0.0960249 -0.10225568 2.51041213] [-0.0947059 0.99534814 0.01768803 -0.21864964] [ 0.10347849 -0.00782893 0.99460088 -0.10899461] [ 0. 0. 0. 1. ]] SLAMing on 58.96538475 meters Centerline goodness : 0.874779 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.22, Z:-0.11 [[ 0.99009241 0.0960771 -0.10240222 2.51050274] [-0.09478994 0.99534568 0.0173739 -0.21709437] [ 0.10359484 -0.00749507 0.99459134 -0.10889263] [ 0. 0. 0. 1. ]] SLAMing on 58.99538475 meters Centerline goodness : 0.876244 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.21, Z:-0.11 [[ 0.99009505 0.09586152 -0.10257856 2.51107454] [-0.09465207 0.99537192 0.016605 -0.21422873] [ 0.1036956 -0.00673126 0.9945863 -0.109247 ] [ 0. 0. 0. 1. ]] SLAMing on 59.02538475 meters Centerline goodness : 0.874257 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.21, Z:-0.11 [[ 0.99014681 0.09505668 -0.10282759 2.51234394] [-0.09391371 0.99545319 0.01591131 -0.21261935] [ 0.10387253 -0.00609761 0.99457193 -0.10971313] [ 0. 0. 0. 1. ]] SLAMing on 59.05538475 meters Centerline goodness : 0.873411 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.21, Z:-0.11 [[ 0.99015618 0.09451978 -0.1032315 2.5134059 ] [-0.09338253 0.99550484 0.01580531 -0.21262672] [ 0.10426138 -0.00600971 0.99453177 -0.10959384] [ 0. 0. 0. 1. ]] SLAMing on 59.08538475 meters Centerline goodness : 0.873209 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.21, Z:-0.11 [[ 0.99017306 0.09367079 -0.10384164 2.51519257] [-0.09254901 0.99558624 0.01557969 -0.21285035] [ 0.10484267 -0.00581615 0.99447181 -0.10972021] [ 0. 0. 0. 1. ]] SLAMing on 59.11538475 meters Centerline goodness : 0.874101 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.21, Z:-0.11 [[ 9.90547466e-01 8.90956711e-02 -1.04296111e-01 2.51582521e+00] [-8.83970601e-02 9.96021096e-01 1.13109115e-02 -2.12372578e-01] [ 1.04888880e-01 -1.98452513e-03 9.94481968e-01 -1.10285028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14538475 meters Centerline goodness : 0.872567 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.21, Z:-0.11 [[ 9.90625214e-01 8.75180793e-02 -1.04891714e-01 2.51802542e+00] [-8.68273703e-02 9.96161061e-01 1.11421621e-02 -2.12803422e-01] [ 1.05464182e-01 -1.93023502e-03 9.94421229e-01 -1.10010030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17538475 meters Centerline goodness : 0.876077 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.21, Z:-0.11 [[ 9.90654672e-01 8.66538390e-02 -1.05330111e-01 2.51985782e+00] [-8.59807813e-02 9.96236919e-01 1.09227154e-02 -2.12910932e-01] [ 1.05880240e-01 -1.76427386e-03 9.94377324e-01 -1.10454723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20538475 meters Centerline goodness : 0.875972 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.21, Z:-0.11 [[ 9.91020939e-01 8.10500538e-02 -1.06340897e-01 2.52303987e+00] [-8.08394748e-02 9.96707246e-01 6.29638995e-03 -2.12934725e-01] [ 1.06501065e-01 2.35668794e-03 9.94309795e-01 -1.12093186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23538475 meters Centerline goodness : 0.877166 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 9.91025973e-01 8.01551155e-02 -1.06970455e-01 2.52520089e+00] [-7.99309671e-02 9.96779931e-01 6.38817565e-03 -2.14672146e-01] [ 1.07138048e-01 2.21940393e-03 9.94241677e-01 -1.12426489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26538475 meters Centerline goodness : 0.877761 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.22, Z:-0.11 [[ 9.91014878e-01 7.93973731e-02 -1.07636279e-01 2.52727609e+00] [-7.91648404e-02 9.96840747e-01 6.43836860e-03 -2.15878627e-01] [ 1.07807419e-01 2.14048981e-03 9.94169492e-01 -1.12710862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295384750000004 meters Centerline goodness : 0.874264 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.22, Z:-0.11 [[ 0.99102093 0.07824389 -0.10842236 2.53054674] [-0.07806673 0.99693077 0.00588422 -0.21597663] [ 0.10854999 0.0026328 0.99408751 -0.11413138] [ 0. 0. 0. 1. ]] SLAMing on 59.32538475 meters Centerline goodness : 0.875258 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.22, Z:-0.11 [[ 0.99098401 0.07798658 -0.10894392 2.5319981 ] [-0.0778192 0.99695065 0.00579363 -0.21536128] [ 0.10906354 0.00273654 0.99403101 -0.11435329] [ 0. 0. 0. 1. ]] SLAMing on 59.35538475 meters Centerline goodness : 0.878335 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.22, Z:-0.11 [[ 9.90637100e-01 8.15540822e-02 -1.09485471e-01 2.53405442e+00] [-8.09524354e-02 9.96668436e-01 9.93642074e-03 -2.15494581e-01] [ 1.09931069e-01 -9.80271521e-04 9.93938730e-01 -1.13504203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38538475 meters Centerline goodness : 0.877669 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 9.90602621e-01 8.21144272e-02 -1.09378550e-01 2.53344700e+00] [-8.15245261e-02 9.96622544e-01 9.86189728e-03 -2.14004623e-01] [ 1.09818933e-01 -8.52186824e-04 9.93951244e-01 -1.13409776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41538475 meters Centerline goodness : 0.879297 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 0.99025203 0.08689547 -0.10885818 2.53255258] [-0.08589724 0.99620794 0.0138349 -0.21172473] [ 0.10964757 -0.00434942 0.99396101 -0.11252309] [ 0. 0. 0. 1. ]] SLAMing on 59.44538475 meters Centerline goodness : 0.883947 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 0.99022183 0.08748478 -0.10866067 2.53191736] [-0.08651215 0.99615738 0.01364242 -0.20904779] [ 0.10943663 -0.00410856 0.99398528 -0.1125357 ] [ 0. 0. 0. 1. ]] SLAMing on 59.47538475 meters Centerline goodness : 0.883576 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 0.98987669 0.09142343 -0.10856283 2.53249841] [-0.09010173 0.99578698 0.01702849 -0.20618538] [ 0.10966225 -0.00707441 0.99394373 -0.11216303] [ 0. 0. 0. 1. ]] SLAMing on 59.50538475 meters Centerline goodness : 0.885513 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.20, Z:-0.11 [[ 0.9898638 0.09161338 -0.10852024 2.53187348] [-0.0903536 0.99577339 0.0164799 -0.20342979] [ 0.10957134 -0.00650766 0.99395763 -0.11178082] [ 0. 0. 0. 1. ]] SLAMing on 59.53538475 meters Centerline goodness : 0.888388 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.20, Z:-0.11 [[ 0.98985186 0.09155724 -0.10867646 2.53193361] [-0.09031858 0.99577991 0.01627621 -0.20257515] [ 0.10970804 -0.00629553 0.99394392 -0.11149264] [ 0. 0. 0. 1. ]] SLAMing on 59.56538475 meters Centerline goodness : 0.888658 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.20, Z:-0.11 [[ 0.98985346 0.09112917 -0.10902115 2.53285988] [-0.08993867 0.995822 0.01579811 -0.20142163] [ 0.11000533 -0.0058326 0.99391388 -0.11165592] [ 0. 0. 0. 1. ]] SLAMing on 59.59538475 meters Centerline goodness : 0.889777 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.20, Z:-0.11 [[ 0.98986771 0.0901595 -0.10969587 2.53461699] [-0.08901515 0.99591283 0.01529477 -0.20061436] [ 0.11062649 -0.0053752 0.99384752 -0.11157747] [ 0. 0. 0. 1. ]] SLAMing on 59.62538475 meters Centerline goodness : 0.886482 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.11 [[ 0.98987078 0.08953132 -0.11018156 2.53594838] [-0.08840099 0.99597034 0.01511129 -0.2008458 ] [ 0.1110905 -0.00521806 0.9937966 -0.11164216] [ 0. 0. 0. 1. ]] SLAMing on 59.65538475 meters Centerline goodness : 0.891032 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.11 [[ 0.98996671 0.08736245 -0.11105722 2.53941253] [-0.08628723 0.99616535 0.01446068 -0.20168177] [ 0.11189468 -0.00473277 0.9937088 -0.11223289] [ 0. 0. 0. 1. ]] SLAMing on 59.68538475 meters Centerline goodness : 0.890305 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.20, Z:-0.11 [[ 0.99018294 0.08302716 -0.11244659 2.54609214] [-0.08211231 0.99654151 0.01275096 -0.20229812] [ 0.11311637 -0.00339254 0.99357595 -0.11399266] [ 0. 0. 0. 1. ]] SLAMing on 59.71538475 meters Centerline goodness : 0.891406 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.20, Z:-0.11 [[ 0.99022278 0.08161938 -0.11312433 2.54861897] [-0.08070673 0.99665785 0.01263163 -0.20387643] [ 0.11377724 -0.00337824 0.99350054 -0.1142743 ] [ 0. 0. 0. 1. ]] SLAMing on 59.74538475 meters Centerline goodness : 0.891406 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.20, Z:-0.11 [[ 0.99022278 0.08161938 -0.11312433 2.54861897] [-0.08070673 0.99665785 0.01263163 -0.20387643] [ 0.11377724 -0.00337824 0.99350054 -0.1142743 ] [ 0. 0. 0. 1. ]] SLAMing on 59.77538475 meters Centerline goodness : 0.894140 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.21, Z:-0.11 [[ 0.99026003 0.08023522 -0.11378659 2.55072359] [-0.07929902 0.99676949 0.01273757 -0.20558836] [ 0.114441 -0.00359035 0.99342356 -0.11393495] [ 0. 0. 0. 1. ]] SLAMing on 59.80538475 meters Centerline goodness : 0.897498 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.21, Z:-0.11 [[ 9.90602434e-01 7.42177795e-02 -1.14884895e-01 2.55297705e+00] [-7.36602200e-02 9.97241906e-01 9.09681574e-03 -2.07218038e-01] [ 1.15243177e-01 -5.48881214e-04 9.93337158e-01 -1.12910986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters Centerline goodness : 0.898156 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.21, Z:-0.11 [[ 9.90607359e-01 7.31384278e-02 -1.15532811e-01 2.55462044e+00] [-7.25630886e-02 9.97321543e-01 9.18353935e-03 -2.08142549e-01] [ 1.15895031e-01 -7.13864087e-04 9.93261210e-01 -1.12252372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86538475 meters Centerline goodness : 0.899275 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.21, Z:-0.11 [[ 9.90631847e-01 7.05993444e-02 -1.16894298e-01 2.55899897e+00] [-7.00945271e-02 9.97504741e-01 8.42906796e-03 -2.07158527e-01] [ 1.17197703e-01 -1.56452623e-04 9.93108591e-01 -1.12169323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters Centerline goodness : 0.896950 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.21, Z:-0.11 [[ 9.90636237e-01 6.98107441e-02 -1.17329903e-01 2.56034413e+00] [-6.93436930e-02 9.97560243e-01 8.06314256e-03 -2.06272188e-01] [ 1.17606541e-01 1.48447589e-04 9.93060260e-01 -1.12149922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92538475 meters Centerline goodness : 0.906053 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.20, Z:-0.11 [[ 9.90643740e-01 6.83880489e-02 -1.18101881e-01 2.56235492e+00] [-6.79977702e-02 9.97658504e-01 7.33564197e-03 -2.03857174e-01] [ 1.18327016e-01 7.63656763e-04 9.92974387e-01 -1.11552686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters Centerline goodness : 0.906424 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.11 [[ 9.90658173e-01 6.68491241e-02 -1.18859489e-01 2.56538724e+00] [-6.66552932e-02 9.97760292e-01 5.60990621e-03 -1.98739986e-01] [ 1.18968296e-01 2.36511467e-03 9.92895237e-01 -1.12765073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98538475 meters Centerline goodness : 0.903919 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.11 [[ 0.9906475 0.06630782 -0.11925102 2.56681583] [-0.06621969 0.99779397 0.0047058 -0.19530472] [ 0.11929998 0.00323498 0.99285298 -0.11333207] [ 0. 0. 0. 1. ]] SLAMing on 60.01538475 meters Centerline goodness : 0.904867 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.11 [[ 9.90384419e-01 6.90356425e-02 -1.19886543e-01 2.56928725e+00] [-6.87158512e-02 9.97613068e-01 6.80435591e-03 -1.88603843e-01] [ 1.20070125e-01 1.49917777e-03 9.92764281e-01 -1.13270192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045384750000004 meters Centerline goodness : 0.905316 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.11 [[ 9.90357942e-01 6.88327899e-02 -1.20221433e-01 2.56975462e+00] [-6.86160299e-02 9.97625420e-01 5.94661640e-03 -1.83891642e-01] [ 1.20345279e-01 2.35983862e-03 9.92729291e-01 -1.12954193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07538475 meters Centerline goodness : 0.905971 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.11 [[ 0.99035225 0.06845406 -0.12048431 2.5703555 ] [-0.06835097 0.99764884 0.00499297 -0.17898818] [ 0.12054283 0.00329042 0.99270267 -0.11281138] [ 0. 0. 0. 1. ]] SLAMing on 60.10538475 meters Centerline goodness : 0.905938 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.17, Z:-0.11 [[ 0.9903479 0.06835857 -0.12057424 2.57087838] [-0.06833966 0.99765286 0.00429683 -0.17043985] [ 0.12058496 0.00398465 0.99269501 -0.11200422] [ 0. 0. 0. 1. ]] SLAMing on 60.13538475 meters Centerline goodness : 0.908906 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.16, Z:-0.11 [[ 0.99034168 0.0676273 -0.12103676 2.57154993] [-0.06775124 0.99769744 0.00309582 -0.162483 ] [ 0.12096743 0.00513447 0.9926432 -0.11083657] [ 0. 0. 0. 1. ]] SLAMing on 60.16538475 meters Centerline goodness : 0.907605 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.16, Z:-0.11 [[ 9.90323415e-01 6.69052734e-02 -1.21586260e-01 2.57279769e+00] [-6.71563467e-02 9.97740386e-01 2.03633803e-03 -1.58010605e-01] [ 1.21447763e-01 6.14865576e-03 9.92578780e-01 -1.10708704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19538475 meters Centerline goodness : 0.906293 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.15, Z:-0.11 [[ 9.90281290e-01 6.68270783e-02 -1.21971755e-01 2.57515390e+00] [-6.70979522e-02 9.97744603e-01 1.88986408e-03 -1.49624293e-01] [ 1.21822955e-01 6.31255798e-03 9.92531772e-01 -1.10746925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22538475 meters Centerline goodness : 0.906315 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.15, Z:-0.11 [[ 9.90264623e-01 6.58773977e-02 -1.22621960e-01 2.57689284e+00] [-6.62832824e-02 9.97800547e-01 7.70774370e-04 -1.46014887e-01] [ 1.22403036e-01 7.36451544e-03 9.92453153e-01 -1.10931863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25538475 meters Centerline goodness : 0.904567 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.14, Z:-0.11 [[ 9.90261158e-01 6.52405147e-02 -1.22989896e-01 2.57894139e+00] [-6.57264045e-02 9.97837676e-01 1.06822894e-04 -1.38061348e-01] [ 1.22730921e-01 7.97790111e-03 9.92407917e-01 -1.10801309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28538475 meters Centerline goodness : 0.901688 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.14, Z:-0.11 [[ 0.99000074 0.06820414 -0.12347766 2.58029822] [-0.06830341 0.99765869 0.00343408 -0.13577738] [ 0.12342277 0.00503421 0.99234141 -0.10964075] [ 0. 0. 0. 1. ]] SLAMing on 60.31538475 meters Centerline goodness : 0.905339 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.13, Z:-0.11 [[ 0.9898283 0.07013032 -0.12378074 2.58056063] [-0.07008178 0.99752993 0.00475168 -0.12752411] [ 0.12380823 0.00397143 0.99229822 -0.10796402] [ 0. 0. 0. 1. ]] SLAMing on 60.34538475 meters Centerline goodness : 0.902311 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.11 [[ 0.98977998 0.07115306 -0.12358329 2.58016143] [-0.07103768 0.99745931 0.00534545 -0.12243026] [ 0.12364964 0.00348825 0.99231981 -0.10714154] [ 0. 0. 0. 1. ]] SLAMing on 60.37538475 meters Centerline goodness : 0.901777 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.11, Z:-0.11 [[ 9.89519013e-01 7.38546773e-02 -1.24087103e-01 2.58093601e+00] [-7.35768666e-02 9.97266186e-01 6.82636568e-03 -1.12599579e-01] [ 1.24252031e-01 2.37512159e-03 9.92247848e-01 -1.05724408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40538475 meters Centerline goodness : 0.902942 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.11, Z:-0.11 [[ 9.89240068e-01 7.70169485e-02 -1.24388417e-01 2.58237414e+00] [-7.64319091e-02 9.97029775e-01 9.47583348e-03 -1.08822695e-01] [ 1.24748755e-01 1.33370003e-04 9.92188354e-01 -1.05569863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43538475 meters Centerline goodness : 0.898182 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.11 [[ 9.88964906e-01 7.99050711e-02 -1.24754135e-01 2.58476020e+00] [-7.91244193e-02 9.96801739e-01 1.12079643e-02 -9.90536307e-02] [ 1.25250712e-01 -1.21318490e-03 9.92124381e-01 -1.05733740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46538475 meters Centerline goodness : 0.896548 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.11 [[ 0.98868592 0.08304873 -0.12491217 2.58630145] [-0.08195895 0.99653951 0.01384719 -0.09549675] [ 0.1256299 -0.00345285 0.99207117 -0.10582928] [ 0. 0. 0. 1. ]] SLAMing on 60.49538475 meters Centerline goodness : 0.892221 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.09, Z:-0.11 [[ 0.98840431 0.08553621 -0.12546103 2.58895678] [-0.08426788 0.99632425 0.01539171 -0.08585181] [ 0.12631642 -0.0046409 0.99197915 -0.10584676] [ 0. 0. 0. 1. ]] SLAMing on 60.52538475 meters Centerline goodness : 0.889552 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.08, Z:-0.11 [[ 0.98809613 0.08847395 -0.1258507 2.59119136] [-0.08690029 0.99605528 0.01795072 -0.08247144] [ 0.12694243 -0.00680058 0.99188677 -0.10616985] [ 0. 0. 0. 1. ]] SLAMing on 60.55538475 meters Centerline goodness : 0.885043 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.07, Z:-0.11 [[ 0.98778939 0.0914765 -0.12611172 2.59362218] [-0.08969749 0.99577369 0.01972585 -0.07304283] [ 0.12738318 -0.00817308 0.99181991 -0.10671872] [ 0. 0. 0. 1. ]] SLAMing on 60.58538475 meters Centerline goodness : 0.888433 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.07, Z:-0.11 [[ 0.98740948 0.09519691 -0.12633316 2.59434413] [-0.09307052 0.99540203 0.02264238 -0.0694722 ] [ 0.12790777 -0.01059941 0.99172943 -0.10597236] [ 0. 0. 0. 1. ]] SLAMing on 60.61538475 meters Centerline goodness : 0.884812 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:-0.10 [[ 0.9870106 0.10019076 -0.1255862 2.59160003] [-0.09777227 0.99488739 0.02529146 -0.05952412] [ 0.1274781 -0.01268409 0.99176028 -0.10332962] [ 0. 0. 0. 1. ]] SLAMing on 60.64538475 meters Centerline goodness : 0.882555 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:-0.10 [[ 0.98662652 0.10389228 -0.12559661 2.59185114] [-0.1011405 0.99447498 0.02810886 -0.05568913] [ 0.12782298 -0.01503004 0.99168311 -0.10249268] [ 0. 0. 0. 1. ]] SLAMing on 60.67538475 meters Centerline goodness : 0.884876 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.05, Z:-0.10 [[ 0.98623346 0.10738804 -0.12574328 2.59260634] [-0.10431837 0.99406794 0.03076692 -0.05179944] [ 0.12830137 -0.01722603 0.99158561 -0.1019407 ] [ 0. 0. 0. 1. ]] SLAMing on 60.70538475 meters Centerline goodness : 0.884894 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.04, Z:-0.10 [[ 0.98568537 0.1143489 -0.12388976 2.59089821] [-0.11072849 0.99320759 0.0357474 -0.04423455] [ 0.12713593 -0.02151757 0.99165188 -0.10135502] [ 0. 0. 0. 1. ]] SLAMing on 60.73538475 meters Centerline goodness : 0.885703 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.04, Z:-0.10 [[ 0.986189 0.12423201 -0.10953388 2.58903043] [-0.12043182 0.99188781 0.04067864 -0.04172148] [ 0.11369891 -0.02692546 0.99315033 -0.10307751] [ 0. 0. 0. 1. ]] SLAMing on 60.76538475 meters Centerline goodness : 0.887703 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.04, Z:-0.10 [[ 0.98600645 0.12658305 -0.10848043 2.58714312] [-0.12256404 0.99152974 0.04297486 -0.03932407] [ 0.11300146 -0.02907769 0.99316925 -0.10219022] [ 0. 0. 0. 1. ]] SLAMing on 60.795384750000004 meters Centerline goodness : 0.889618 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.04, Z:-0.10 [[ 0.98577315 0.12916465 -0.10755369 2.58582706] [-0.12490386 0.99112592 0.04548015 -0.03688591] [ 0.11247368 -0.03139924 0.99315848 -0.10162071] [ 0. 0. 0. 1. ]] SLAMing on 60.82538475 meters Centerline goodness : 0.891435 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:-0.10 [[ 0.98551703 0.13204468 -0.10639733 2.58577755] [-0.12766212 0.99070211 0.04702891 -0.03121999] [ 0.11161798 -0.03276489 0.9932109 -0.1023757 ] [ 0. 0. 0. 1. ]] SLAMing on 60.85538475 meters Centerline goodness : 0.891680 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:-0.10 [[ 0.9851308 0.13563844 -0.1054491 2.58510972] [-0.13108651 0.99015955 0.04899376 -0.02598071] [ 0.11105687 -0.03444231 0.99321705 -0.10183009] [ 0. 0. 0. 1. ]] SLAMing on 60.88538475 meters Centerline goodness : 0.894018 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.10 [[ 0.98503082 0.13582704 -0.10613811 2.58755332] [-0.13140091 0.99018249 0.04767002 -0.02313895] [ 0.11157098 -0.0330098 0.99320807 -0.10270155] [ 0. 0. 0. 1. ]] SLAMing on 60.91538475 meters Centerline goodness : 0.894268 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.10 [[ 0.98496304 0.13593617 -0.10662629 2.58996553] [-0.13161321 0.9902045 0.04661564 -0.02057197] [ 0.11191858 -0.03188126 0.99320583 -0.1039814 ] [ 0. 0. 0. 1. ]] SLAMing on 60.94538475 meters Centerline goodness : 0.894764 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.11 [[ 0.98455881 0.13869084 -0.10681202 2.59262133] [-0.13421468 0.98978675 0.04804797 -0.01694251] [ 0.11238493 -0.03297031 0.99311761 -0.10514735] [ 0. 0. 0. 1. ]] SLAMing on 60.97538475 meters Centerline goodness : 0.892492 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.11 [[ 0.98449529 0.13853627 -0.10759518 2.59501212] [-0.13419714 0.98985799 0.04660781 -0.01491254] [ 0.11296082 -0.0314462 0.9931017 -0.10588886] [ 0. 0. 0. 1. ]] SLAMing on 61.00538475 meters Centerline goodness : 0.894295 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.11 [[ 0.98461963 0.13749264 -0.10779588 2.59603026] [-0.13345544 0.99008441 0.04384646 -0.00951189] [ 0.11275558 -0.02878614 0.99320569 -0.1059249 ] [ 0. 0. 0. 1. ]] SLAMing on 61.03538475 meters Centerline goodness : 0.897290 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.11 [[ 0.98468812 0.13662643 -0.1082706 2.59735796] [-0.13275913 0.99024996 0.04219042 -0.00673739] [ 0.11297929 -0.0271705 0.99322578 -0.1061819 ] [ 0. 0. 0. 1. ]] SLAMing on 61.06538475 meters Centerline goodness : 0.903486 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.00, Z:-0.12 [[ 9.84496022e-01 1.34506953e-01 -1.12585354e-01 2.60185134e+00] [-1.34561574e-01 9.90879447e-01 7.14871377e-03 -4.48210748e-04] [ 1.12520065e-01 8.11178218e-03 9.93616341e-01 -1.19042769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09538475 meters Centerline goodness : 0.907755 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.12 [[ 9.84715601e-01 1.33208205e-01 -1.12208550e-01 2.60165855e+00] [-1.33406190e-01 9.91044614e-01 5.77600822e-03 1.72341855e-03] [ 1.11973091e-01 9.28158970e-03 9.93667892e-01 -1.19485808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12538475 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.12 [[ 9.85635973e-01 1.37432611e-01 -9.81529712e-02 2.60150883e+00] [-1.37368805e-01 9.90492027e-01 7.44011855e-03 1.79540866e-03] [ 9.82422504e-02 6.14990786e-03 9.95143527e-01 -1.23817259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15538475 meters Centerline goodness : 0.905465 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.12 [[ 0.98575634 0.13647609 -0.09827874 2.60261905] [-0.13652668 0.99061673 0.006242 0.00382368] [ 0.09820845 0.00726458 0.99513935 -0.12461926] [ 0. 0. 0. 1. ]] SLAMing on 61.18538475 meters Centerline goodness : 0.902022 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.13 [[ 0.98602043 0.13517235 -0.09742761 2.60418233] [-0.1352764 0.99079226 0.00556753 0.00891984] [ 0.0972831 0.00768996 0.99522704 -0.12747732] [ 0. 0. 0. 1. ]] SLAMing on 61.21538475 meters Centerline goodness : 0.903651 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.13 [[ 0.98609386 0.1344593 -0.09767081 2.60603206] [-0.13467045 0.99088042 0.00445762 0.01106163] [ 0.09737946 0.00875774 0.99520879 -0.12877879] [ 0. 0. 0. 1. ]] SLAMing on 61.24538475 meters Centerline goodness : 0.904886 Centerline is valid? [False, False] Translation: X:2.61, Y:0.02, Z:-0.13 [[ 9.86340178e-01 1.32813242e-01 -9.74356005e-02 2.60581526e+00] [-1.33252022e-01 9.91080129e-01 2.01920190e-03 1.52836957e-02] [ 9.68346642e-02 1.09918708e-02 9.95239783e-01 -1.28641369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27538475 meters Centerline goodness : 0.900663 Centerline is valid? [False, False] Translation: X:2.61, Y:0.02, Z:-0.13 [[ 9.86503748e-01 1.31499363e-01 -9.75616375e-02 2.60629207e+00] [-1.32189276e-01 9.91224303e-01 -6.13480184e-04 1.99294322e-02] [ 9.66247939e-02 1.35018028e-02 9.95229295e-01 -1.28284667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30538475 meters Centerline goodness : 0.902437 Centerline is valid? [False, False] Translation: X:2.61, Y:0.02, Z:-0.13 [[ 9.86569869e-01 1.30762256e-01 -9.78832225e-02 2.60818597e+00] [-1.31565832e-01 9.91305851e-01 -1.77249022e-03 2.21737814e-02] [ 9.68004363e-02 1.46267731e-02 9.95196329e-01 -1.29488121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33538475 meters Centerline goodness : 0.901528 Centerline is valid? [False, False] Translation: X:2.61, Y:0.03, Z:-0.13 [[ 0.98664653 0.13004486 -0.09806608 2.60922205] [-0.13100222 0.99137638 -0.00335978 0.02514109] [ 0.09678347 0.01616179 0.99517423 -0.12992388] [ 0. 0. 0. 1. ]] SLAMing on 61.36538475 meters Centerline goodness : 0.901089 Centerline is valid? [False, False] Translation: X:2.61, Y:0.03, Z:-0.13 [[ 0.98661562 0.12970124 -0.09882917 2.61045618] [-0.13095506 0.99136842 -0.00627939 0.02962757] [ 0.09716168 0.01913752 0.9950846 -0.12875414] [ 0. 0. 0. 1. ]] SLAMing on 61.39538475 meters Centerline goodness : 0.898283 Centerline is valid? [False, False] Translation: X:2.61, Y:0.03, Z:-0.13 [[ 0.98651319 0.12990039 -0.09958721 2.61175591] [-0.13133189 0.99130676 -0.00792773 0.03174768] [ 0.09769166 0.02089978 0.99499726 -0.12804593] [ 0. 0. 0. 1. ]] SLAMing on 61.42538475 meters Centerline goodness : 0.900543 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.13 [[ 0.9859891 0.13368925 -0.09976307 2.61339709] [-0.13502324 0.9908197 -0.00671095 0.03598645] [ 0.09795003 0.02008725 0.99498859 -0.12756242] [ 0. 0. 0. 1. ]] SLAMing on 61.45538475 meters Centerline goodness : 0.897549 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.13 [[ 0.98573132 0.13491088 -0.1006619 2.6164987 ] [-0.136357 0.99063065 -0.00759485 0.03833913] [ 0.09869413 0.02121244 0.9948917 -0.12837039] [ 0. 0. 0. 1. ]] SLAMing on 61.48538475 meters Centerline goodness : 0.895840 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.13 [[ 0.98460142 0.14166001 -0.10243286 2.62224067] [-0.14296685 0.98971223 -0.00549355 0.04137973] [ 0.10060083 0.02005347 0.99472475 -0.12904553] [ 0. 0. 0. 1. ]] SLAMing on 61.51538475 meters Centerline goodness : 0.893922 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.13 [[ 0.98384754 0.14635302 -0.10307669 2.62484789] [-0.14743229 0.98906793 -0.00288921 0.04279396] [ 0.101527 0.01803937 0.99466922 -0.12892454] [ 0. 0. 0. 1. ]] SLAMing on 61.545384750000004 meters Centerline goodness : 0.896117 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.13 [[ 9.82565736e-01 1.53190330e-01 -1.05343714e-01 2.63011278e+00] [-1.54223126e-01 9.88034617e-01 -1.68031437e-03 4.61776562e-02] [ 1.03825828e-01 1.78974562e-02 9.94434452e-01 -1.27841429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57538475 meters Centerline goodness : 0.893200 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.13 [[ 0.98206933 0.15503736 -0.10725319 2.63387122] [-0.15627624 0.98770823 -0.00319272 0.04824726] [ 0.10543987 0.0198966 0.99422661 -0.12700766] [ 0. 0. 0. 1. ]] SLAMing on 61.60538475 meters Centerline goodness : 0.892275 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.13 [[ 9.80621142e-01 1.62512979e-01 -1.09415297e-01 2.63907609e+00] [-1.63592701e-01 9.86527552e-01 -9.04171142e-04 4.99645543e-02] [ 1.07794265e-01 1.87861932e-02 9.93995712e-01 -1.25780316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63538475 meters Centerline goodness : 0.892275 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.13 [[ 9.80621142e-01 1.62512979e-01 -1.09415297e-01 2.63907609e+00] [-1.63592701e-01 9.86527552e-01 -9.04171142e-04 4.99645543e-02] [ 1.07794265e-01 1.87861932e-02 9.93995712e-01 -1.25780316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66538475 meters Centerline goodness : 0.881976 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.12 [[ 0.9790306 0.17243311 -0.10847076 2.63908324] [-0.17264482 0.98495553 0.00750784 0.04887573] [ 0.10813347 0.01137651 0.99407129 -0.12465346] [ 0. 0. 0. 1. ]] SLAMing on 61.69538475 meters Centerline goodness : 0.881876 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.12 [[ 0.9782861 0.16788094 -0.12154134 2.63858388] [-0.16874664 0.98565424 0.00320935 0.05257254] [ 0.12033652 0.01737003 0.99258118 -0.12056196] [ 0. 0. 0. 1. ]] SLAMing on 61.72538475 meters Centerline goodness : 0.882174 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.12 [[ 0.97798665 0.16892741 -0.12249748 2.63991138] [-0.16973271 0.98548239 0.00390758 0.05019586] [ 0.1213792 0.01697027 0.99246113 -0.12011477] [ 0. 0. 0. 1. ]] SLAMing on 61.75538475 meters Centerline goodness : 0.880780 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.12 [[ 9.78150490e-01 1.66840404e-01 -1.24039910e-01 2.63990648e+00] [-1.67878813e-01 9.85805388e-01 2.10759356e-03 4.35284182e-02] [ 1.22630843e-01 1.87621292e-02 9.92274992e-01 -1.18930775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78538475 meters Centerline goodness : 0.882118 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.12 [[ 9.78497253e-01 1.63954484e-01 -1.25148123e-01 2.64005529e+00] [-1.65340990e-01 9.86236211e-01 -7.02018070e-04 4.11030708e-02] [ 1.23310511e-01 2.13790373e-02 9.92137820e-01 -1.18198042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81538475 meters Centerline goodness : 0.885495 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.12 [[ 9.78838694e-01 1.61365917e-01 -1.25840579e-01 2.63972821e+00] [-1.62926102e-01 9.86635960e-01 -2.13727960e-03 3.61239660e-02] [ 1.23813957e-01 2.25947670e-02 9.92048175e-01 -1.18125842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84538475 meters Centerline goodness : 0.883563 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.12 [[ 0.97891068 0.1595589 -0.1275729 2.64056142] [-0.16135574 0.98688896 -0.00380915 0.03005191] [ 0.1252925 0.02431344 0.99182188 -0.11719788] [ 0. 0. 0. 1. ]] SLAMing on 61.87538475 meters Centerline goodness : 0.883037 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.12 [[ 0.97897649 0.15780875 -0.12923405 2.64219014] [-0.15996656 0.98710153 -0.00642436 0.02712676] [ 0.1265533 0.02696243 0.99159331 -0.11671582] [ 0. 0. 0. 1. ]] SLAMing on 61.90538475 meters Centerline goodness : 0.882070 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.12 [[ 0.97850216 0.15862548 -0.13180091 2.64446218] [-0.16097639 0.98693119 -0.00730882 0.01887974] [ 0.12891907 0.02836853 0.99124926 -0.1154273 ] [ 0. 0. 0. 1. ]] SLAMing on 61.93538475 meters Centerline goodness : 0.881989 Centerline is valid? [False, False] Translation: X:2.65, Y:0.02, Z:-0.11 [[ 0.97843679 0.15724325 -0.13392542 2.64706594] [-0.16000086 0.98706607 -0.01001486 0.01569234] [ 0.13061847 0.03122709 0.99094081 -0.11496663] [ 0. 0. 0. 1. ]] SLAMing on 61.96538475 meters Centerline goodness : 0.876563 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.11 [[ 0.97743772 0.16031232 -0.13753351 2.65118742] [-0.16324435 0.98653256 -0.01023652 0.00604186] [ 0.13404025 0.03245713 0.99044422 -0.1132142 ] [ 0. 0. 0. 1. ]] SLAMing on 61.99538475 meters Centerline goodness : 0.876145 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.11 [[ 9.76889700e-01 1.62077000e-01 -1.39346904e-01 2.65426179e+00] [-1.64927277e-01 9.86263948e-01 -9.07846497e-03 3.48039792e-04] [ 1.35961418e-01 3.18507643e-02 9.90202011e-01 -1.13457805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02538475 meters Centerline goodness : 0.868173 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.12 [[ 0.9760471 0.16521759 -0.1415458 2.65927113] [-0.16764073 0.98583399 -0.00528548 -0.01186695] [ 0.13866741 0.02888772 0.9899176 -0.11581407] [ 0. 0. 0. 1. ]] SLAMing on 62.05538475 meters Centerline goodness : 0.862815 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.12 [[ 0.97546541 0.16549675 -0.14518288 2.66539698] [-0.16804874 0.98576386 -0.00540713 -0.02539578] [ 0.14222117 0.02967227 0.98939006 -0.1173206 ] [ 0. 0. 0. 1. ]] SLAMing on 62.08538475 meters Centerline goodness : 0.858350 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.12 [[ 0.9753525 0.16392351 -0.14770437 2.66907768] [-0.16685025 0.98595325 -0.00756173 -0.03172746] [ 0.14439006 0.03201986 0.98900265 -0.11776211] [ 0. 0. 0. 1. ]] SLAMing on 62.11538475 meters Centerline goodness : 0.855635 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.04, Z:-0.12 [[ 0.97532794 0.16176668 -0.15022299 2.67211264] [-0.16517585 0.98620912 -0.01041679 -0.03746705] [ 0.1464662 0.03497299 0.98859726 -0.11758335] [ 0. 0. 0. 1. ]] SLAMing on 62.14538475 meters Centerline goodness : 0.858744 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.12 [[ 0.97587845 0.16206891 -0.14627004 2.67976007] [-0.16674993 0.98579132 -0.02024706 -0.05248495] [ 0.14091032 0.04414918 0.98903748 -0.12161646] [ 0. 0. 0. 1. ]] SLAMing on 62.17538475 meters Centerline goodness : 0.862744 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.06, Z:-0.12 [[ 0.97608429 0.15914057 -0.14810043 2.68034866] [-0.16426367 0.98614947 -0.02294933 -0.05728468] [ 0.14239699 0.046728 0.98870602 -0.12040967] [ 0. 0. 0. 1. ]] SLAMing on 62.20538475 meters Centerline goodness : 0.864337 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:-0.12 [[ 0.97642565 0.1585517 -0.14647289 2.67465269] [-0.16320762 0.98638374 -0.02025823 -0.07063255] [ 0.1412665 0.04368615 0.98900723 -0.11759355] [ 0. 0. 0. 1. ]] SLAMing on 62.23538475 meters Centerline goodness : 0.867960 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:-0.12 [[ 0.97688062 0.15602792 -0.14614901 2.67235957] [-0.16088028 0.98673052 -0.0219182 -0.07608723] [ 0.14078984 0.04492396 0.98901975 -0.11758905] [ 0. 0. 0. 1. ]] SLAMing on 62.26538475 meters Centerline goodness : 0.868575 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.09, Z:-0.12 [[ 0.97731816 0.15382051 -0.14556257 2.67000213] [-0.15839951 0.98716563 -0.02033767 -0.08985958] [ 0.14056602 0.04293341 0.98913999 -0.11620707] [ 0. 0. 0. 1. ]] SLAMing on 62.295384750000004 meters Centerline goodness : 0.870356 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.09, Z:-0.12 [[ 0.97778996 0.15086146 -0.14549097 2.66856591] [-0.15570703 0.98754821 -0.0224468 -0.09488309] [ 0.14029299 0.04460222 0.98910491 -0.11656655] [ 0. 0. 0. 1. ]] SLAMing on 62.32538475 meters Centerline goodness : 0.873228 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.12 [[ 0.97826852 0.14840644 -0.14479721 2.66613209] [-0.15307776 0.98797787 -0.02160864 -0.10764741] [ 0.13984958 0.04330429 0.98922537 -0.11580482] [ 0. 0. 0. 1. ]] SLAMing on 62.35538475 meters Centerline goodness : 0.874626 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.12 [[ 0.97876385 0.14486805 -0.14503299 2.66605779] [-0.14988277 0.98840733 -0.02420956 -0.11169072] [ 0.13984448 0.04543339 0.98913059 -0.11673477] [ 0. 0. 0. 1. ]] SLAMing on 62.38538475 meters Centerline goodness : 0.873388 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.12, Z:-0.12 [[ 0.97920533 0.14142533 -0.14545033 2.66702702] [-0.14641946 0.9889273 -0.02416871 -0.12380216] [ 0.14042173 0.04496289 0.98907031 -0.117503 ] [ 0. 0. 0. 1. ]] SLAMing on 62.41538475 meters Centerline goodness : 0.875818 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.13, Z:-0.12 [[ 0.97965113 0.13804744 -0.14569339 2.66636989] [-0.14335545 0.9893155 -0.02653421 -0.12883877] [ 0.14047375 0.04688021 0.9889739 -0.11795056] [ 0. 0. 0. 1. ]] SLAMing on 62.44538475 meters Centerline goodness : 0.876088 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.14, Z:-0.12 [[ 0.98010571 0.13462728 -0.14583655 2.66603498] [-0.14000744 0.98977593 -0.02723085 -0.13969223] [ 0.14067949 0.04710732 0.98893386 -0.11831637] [ 0. 0. 0. 1. ]] SLAMing on 62.47538475 meters Centerline goodness : 0.876597 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.15, Z:-0.12 [[ 0.98015102 0.13422294 -0.1459047 2.66667317] [-0.13949542 0.9898686 -0.02647965 -0.14518551] [ 0.14087231 0.0463071 0.98894421 -0.11909548] [ 0. 0. 0. 1. ]] SLAMing on 62.50538475 meters Centerline goodness : 0.881929 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.15, Z:-0.12 [[ 0.98055859 0.13102947 -0.14606892 2.66554436] [-0.13637719 0.99028419 -0.02717492 -0.15475516] [ 0.14108903 0.04656707 0.9889011 -0.11849976] [ 0. 0. 0. 1. ]] SLAMing on 62.53538475 meters Centerline goodness : 0.881334 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.16, Z:-0.12 [[ 0.98052152 0.1312582 -0.14611243 2.66563485] [-0.1364263 0.99031195 -0.02588661 -0.1594292 ] [ 0.14129905 0.04531596 0.98892924 -0.11847145] [ 0. 0. 0. 1. ]] SLAMing on 62.56538475 meters Centerline goodness : 0.880804 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.17, Z:-0.12 [[ 0.98086466 0.12851021 -0.14625202 2.66609458] [-0.1338744 0.99061932 -0.02740454 -0.16586978] [ 0.14135831 0.04645954 0.9888677 -0.11977283] [ 0. 0. 0. 1. ]] SLAMing on 62.59538475 meters Centerline goodness : 0.879459 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.17, Z:-0.12 [[ 0.98078648 0.12899408 -0.14635029 2.66621146] [-0.13421522 0.99060212 -0.02633861 -0.16918951] [ 0.14157738 0.04547499 0.98888213 -0.11975163] [ 0. 0. 0. 1. ]] SLAMing on 62.62538475 meters Centerline goodness : 0.879051 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.17, Z:-0.12 [[ 0.98068817 0.12984464 -0.14625691 2.6658798 ] [-0.13485765 0.99055319 -0.02485544 -0.17381698] [ 0.1416479 0.0440993 0.98893434 -0.11973441] [ 0. 0. 0. 1. ]] SLAMing on 62.65538475 meters Centerline goodness : 0.879114 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.18, Z:-0.12 [[ 0.98063224 0.13004871 -0.14645046 2.66641892] [-0.13499638 0.99054747 -0.02432483 -0.17536375] [ 0.14190272 0.04362399 0.98891889 -0.1198626 ] [ 0. 0. 0. 1. ]] SLAMing on 62.68538475 meters Centerline goodness : 0.874054 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.18, Z:-0.12 [[ 0.9805805 0.13003216 -0.14681117 2.66770423] [-0.13485176 0.99059123 -0.0233244 -0.17942227] [ 0.14239694 0.0426692 0.9888895 -0.12024974] [ 0. 0. 0. 1. ]] SLAMing on 62.71538475 meters Centerline goodness : 0.874977 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.18, Z:-0.12 [[ 0.98053181 0.13015527 -0.1470271 2.66805144] [-0.13487744 0.99060509 -0.02257504 -0.18202938] [ 0.14270754 0.04196618 0.98887481 -0.12007333] [ 0. 0. 0. 1. ]] SLAMing on 62.74538475 meters Centerline goodness : 0.875229 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.12 [[ 0.9806839 0.12905457 -0.14698304 2.66863753] [-0.13371574 0.99077006 -0.02224387 -0.1861215 ] [ 0.14275573 0.04146815 0.98888887 -0.1202671 ] [ 0. 0. 0. 1. ]] SLAMing on 62.77538475 meters Centerline goodness : 0.874032 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.12 [[ 0.98066601 0.12884218 -0.14728838 2.66942323] [-0.13344832 0.99081621 -0.0217893 -0.18782899] [ 0.14312833 0.04102341 0.98885356 -0.12018689] [ 0. 0. 0. 1. ]] SLAMing on 62.80538475 meters Centerline goodness : 0.876287 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.12 [[ 0.98071128 0.1286717 -0.1471359 2.66908276] [-0.13314085 0.99087676 -0.02089864 -0.19064978] [ 0.14310448 0.04008533 0.98889548 -0.11946469] [ 0. 0. 0. 1. ]] SLAMing on 62.83538475 meters Centerline goodness : 0.876702 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.12 [[ 0.98067312 0.12884063 -0.14724241 2.66888199] [-0.13321382 0.99088157 -0.02019397 -0.19241098] [ 0.14329799 0.03941841 0.98889427 -0.11879994] [ 0. 0. 0. 1. ]] SLAMing on 62.86538475 meters Centerline goodness : 0.878659 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98067247 0.128637 -0.14742468 2.66870864] [-0.132858 0.99095084 -0.01910972 -0.19565673] [ 0.1436324 0.03832693 0.98888866 -0.11734483] [ 0. 0. 0. 1. ]] SLAMing on 62.89538475 meters Centerline goodness : 0.879592 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98062558 0.1292475 -0.14720241 2.66748356] [-0.13334882 0.99090019 -0.01830057 -0.19726664] [ 0.14349759 0.03757527 0.98893708 -0.11646485] [ 0. 0. 0. 1. ]] SLAMing on 62.92538475 meters Centerline goodness : 0.881862 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98057248 0.1300492 -0.14684965 2.66595429] [-0.13400933 0.99082798 -0.01736115 -0.19833188] [ 0.14324494 0.03670309 0.98900646 -0.11536848] [ 0. 0. 0. 1. ]] SLAMing on 62.95538475 meters Centerline goodness : 0.882129 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98053173 0.13020531 -0.14698337 2.66632278] [-0.13414688 0.9908124 -0.01718725 -0.19818461] [ 0.14339507 0.03657001 0.98898963 -0.11531239] [ 0. 0. 0. 1. ]] SLAMing on 62.98538475 meters Centerline goodness : 0.881065 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98052848 0.130118 -0.14708232 2.66747226] [-0.13405891 0.99082472 -0.01716347 -0.19815383] [ 0.14349952 0.03654696 0.98897533 -0.1160045 ] [ 0. 0. 0. 1. ]] SLAMing on 63.01538475 meters Centerline goodness : 0.878917 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98052123 0.12989469 -0.1473278 2.66839999] [-0.13381739 0.99086033 -0.01699134 -0.19908597] [ 0.14377419 0.03637539 0.98894176 -0.1162557 ] [ 0. 0. 0. 1. ]] SLAMing on 63.045384750000004 meters Centerline goodness : 0.880938 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98107125 0.12423661 -0.14854113 2.67194337] [-0.12878899 0.99144122 -0.02139392 -0.20054879] [ 0.14461189 0.04011943 0.98867479 -0.11818048] [ 0. 0. 0. 1. ]] SLAMing on 63.07538475 meters Centerline goodness : 0.880541 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.20, Z:-0.12 [[ 0.98109734 0.12304149 -0.14936129 2.67478891] [-0.1275974 0.99159782 -0.02127591 -0.20273817] [ 0.14548851 0.03993185 0.98855376 -0.11876644] [ 0. 0. 0. 1. ]] SLAMing on 63.10538475 meters Centerline goodness : 0.879949 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.20, Z:-0.12 [[ 0.98250394 0.11562267 -0.1460048 2.67544775] [-0.11843388 0.99290449 -0.01068106 -0.20499528] [ 0.14373385 0.02778609 0.98922622 -0.1178254 ] [ 0. 0. 0. 1. ]] SLAMing on 63.13538475 meters Centerline goodness : 0.877822 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.21, Z:-0.12 [[ 0.98253712 0.11481784 -0.14641608 2.67709521] [-0.11763898 0.99299848 -0.01072788 -0.20603472] [ 0.14415919 0.02776478 0.98916492 -0.11818968] [ 0. 0. 0. 1. ]] SLAMing on 63.16538475 meters Centerline goodness : 0.879127 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.21, Z:-0.12 [[ 0.98253583 0.11432979 -0.14680612 2.67834205] [-0.1171524 0.99305633 -0.01069782 -0.20671291] [ 0.14456367 0.02770968 0.98910744 -0.11832939] [ 0. 0. 0. 1. ]] SLAMing on 63.19538475 meters Centerline goodness : 0.880703 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.21, Z:-0.12 [[ 0.9825503 0.11418511 -0.1468219 2.67893183] [-0.11703997 0.9930671 -0.01092605 -0.20528817] [ 0.14455641 0.02791943 0.9891026 -0.11856365] [ 0. 0. 0. 1. ]] SLAMing on 63.22538475 meters Centerline goodness : 0.882708 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.20, Z:-0.12 [[ 0.98211377 0.11892227 -0.14597959 2.67783333] [-0.12122559 0.99260063 -0.00695298 -0.20326892] [ 0.14407257 0.02452508 0.98926317 -0.11764217] [ 0. 0. 0. 1. ]] SLAMing on 63.25538475 meters Centerline goodness : 0.884002 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.20, Z:-0.12 [[ 0.98206533 0.11952859 -0.14581017 2.67721921] [-0.12184869 0.99252363 -0.00705317 -0.20081689] [ 0.14387699 0.02469345 0.98928744 -0.11739502] [ 0. 0. 0. 1. ]] SLAMing on 63.28538475 meters Centerline goodness : 0.883589 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.20, Z:-0.12 [[ 0.98159353 0.12453571 -0.14479297 2.6757745 ] [-0.1263294 0.99198311 -0.00322391 -0.19782768] [ 0.14323069 0.02145617 0.98945672 -0.1165223 ] [ 0. 0. 0. 1. ]] SLAMing on 63.31538475 meters Centerline goodness : 0.882664 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98151846 0.12528889 -0.144652 2.6753085 ] [-0.12710419 0.99188375 -0.00333971 -0.19478367] [ 0.14305954 0.02166387 0.98947696 -0.11632801] [ 0. 0. 0. 1. ]] SLAMing on 63.34538475 meters Centerline goodness : 0.885592 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.11 [[ 9.80951471e-01 1.30785660e-01 -1.43629114e-01 2.67313419e+00] [-1.32070393e-01 9.91240162e-01 5.94254529e-04 -1.91368276e-01] [ 1.42448667e-01 1.83862187e-02 9.89631408e-01 -1.14815165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37538475 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.11 [[ 9.80841923e-01 1.31803582e-01 -1.43446635e-01 2.67222495e+00] [-1.33089624e-01 9.91103803e-01 6.35419450e-04 -1.88929784e-01] [ 1.42254256e-01 1.84680126e-02 9.89657850e-01 -1.14449914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40538475 meters Centerline goodness : 0.884038 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.11 [[ 0.9803373 0.13582512 -0.1431444 2.6729267 ] [-0.13662795 0.99061331 0.00425233 -0.18808495] [ 0.14237832 0.01538881 0.98969268 -0.11434052] [ 0. 0. 0. 1. ]] SLAMing on 63.43538475 meters Centerline goodness : 0.884389 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.11 [[ 0.97981741 0.1399123 -0.14276689 2.67340792] [-0.14024396 0.99008635 0.00778747 -0.1862558 ] [ 0.14244112 0.01239189 0.9897257 -0.11392312] [ 0. 0. 0. 1. ]] SLAMing on 63.46538475 meters Centerline goodness : 0.881692 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.19, Z:-0.11 [[ 0.97982329 0.13982475 -0.1428123 2.67383675] [-0.14017994 0.99009671 0.00762155 -0.18602924] [ 0.14246367 0.01255165 0.98972044 -0.1142318 ] [ 0. 0. 0. 1. ]] SLAMing on 63.49538475 meters Centerline goodness : 0.880542 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.97988178 0.13911915 -0.14309982 2.6754964 ] [-0.13951662 0.9901928 0.00730253 -0.18652006] [ 0.14271233 0.01280919 0.98968132 -0.11504509] [ 0. 0. 0. 1. ]] SLAMing on 63.52538475 meters Centerline goodness : 0.879010 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.979914 0.13859258 -0.14338989 2.67689467] [-0.13901939 0.9902643 0.00708718 -0.18660826] [ 0.14297612 0.01298915 0.9896409 -0.11564604] [ 0. 0. 0. 1. ]] SLAMing on 63.55538475 meters Centerline goodness : 0.877213 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98046189 0.13366197 -0.14432245 2.67884283] [-0.13465593 0.99088816 0.00290366 -0.18693393] [ 0.14339551 0.01658695 0.98952645 -0.11681148] [ 0. 0. 0. 1. ]] SLAMing on 63.58538475 meters Centerline goodness : 0.877213 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98046189 0.13366197 -0.14432245 2.67884283] [-0.13465593 0.99088816 0.00290366 -0.18693393] [ 0.14339551 0.01658695 0.98952645 -0.11681148] [ 0. 0. 0. 1. ]] SLAMing on 63.61538475 meters Centerline goodness : 0.881276 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98044906 0.13338622 -0.14466428 2.67957395] [-0.1343307 0.99093118 0.00326383 -0.18872863] [ 0.1437877 0.01623283 0.98947541 -0.11665043] [ 0. 0. 0. 1. ]] SLAMing on 63.64538475 meters Centerline goodness : 0.879868 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98053217 0.13252579 -0.1448916 2.68128272] [-0.13348741 0.99104563 0.00310856 -0.19024402] [ 0.14400615 0.01629316 0.98944265 -0.11759543] [ 0. 0. 0. 1. ]] SLAMing on 63.67538475 meters Centerline goodness : 0.880254 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98053031 0.13237517 -0.1450418 2.68214645] [-0.13333386 0.99106622 0.00313473 -0.19062664] [ 0.14416098 0.01626528 0.98942056 -0.11809676] [ 0. 0. 0. 1. ]] SLAMing on 63.70538475 meters Centerline goodness : 0.876812 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98052356 0.13227518 -0.14517862 2.68293968] [-0.13321213 0.99108208 0.00329202 -0.19196871] [ 0.14431938 0.01611165 0.98939999 -0.1185866 ] [ 0. 0. 0. 1. ]] SLAMing on 63.73538475 meters Centerline goodness : 0.879377 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98049129 0.13255613 -0.1451403 2.68257472] [-0.13343741 0.99105037 0.00369008 -0.19262487] [ 0.14433049 0.01574905 0.9894042 -0.11817324] [ 0. 0. 0. 1. ]] SLAMing on 63.76538475 meters Centerline goodness : 0.883813 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98044367 0.13327694 -0.14480145 2.68161158] [-0.13409814 0.9909595 0.00411861 -0.19184995] [ 0.14404129 0.01537954 0.98945216 -0.11760196] [ 0. 0. 0. 1. ]] SLAMing on 63.795384750000004 meters Centerline goodness : 0.882802 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98039357 0.13365053 -0.14479636 2.68139344] [-0.13445694 0.99091034 0.00424712 -0.19117841] [ 0.14404784 0.01530502 0.98945236 -0.11729883] [ 0. 0. 0. 1. ]] SLAMing on 63.82538475 meters Centerline goodness : 0.885276 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98030073 0.13449464 -0.14464322 2.68055402] [-0.13526159 0.99079941 0.00456415 -0.19066479] [ 0.14392627 0.01509043 0.98947335 -0.11683298] [ 0. 0. 0. 1. ]] SLAMing on 63.85538475 meters Centerline goodness : 0.886734 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98027138 0.1345666 -0.14477517 2.68085118] [-0.13534129 0.99078868 0.00453028 -0.19015604] [ 0.14405122 0.01515315 0.98945421 -0.11674485] [ 0. 0. 0. 1. ]] SLAMing on 63.88538475 meters Centerline goodness : 0.885864 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98023503 0.13487593 -0.14473346 2.68070267] [-0.13564224 0.99074718 0.00460623 -0.18939316] [ 0.14401553 0.01511678 0.98945996 -0.11659084] [ 0. 0. 0. 1. ]] SLAMing on 63.91538475 meters Centerline goodness : 0.885100 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98011384 0.13611132 -0.14439724 2.68018003] [-0.13683263 0.99058171 0.00497121 -0.18714084] [ 0.1437139 0.0148859 0.98950731 -0.11666986] [ 0. 0. 0. 1. ]] SLAMing on 63.94538475 meters Centerline goodness : 0.888137 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98001807 0.13666785 -0.14452153 2.67978212] [-0.13734966 0.99050846 0.0052969 -0.18679146] [ 0.14387371 0.01465893 0.98948748 -0.11597206] [ 0. 0. 0. 1. ]] SLAMing on 63.97538475 meters Centerline goodness : 0.888771 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.97991144 0.13763651 -0.14432518 2.67874849] [-0.1382727 0.99037801 0.00566208 -0.18672704] [ 0.1437158 0.01440789 0.98951411 -0.11552732] [ 0. 0. 0. 1. ]] SLAMing on 64.00538474999999 meters Centerline goodness : 0.887361 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.97990616 0.13728156 -0.14469861 2.67981647] [-0.13793567 0.99042564 0.00555063 -0.18664684] [ 0.14407521 0.01452001 0.98946021 -0.11565727] [ 0. 0. 0. 1. ]] SLAMing on 64.03538474999999 meters Centerline goodness : 0.887271 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 0.98040733 0.13340291 -0.14493147 2.68217006] [-0.13440864 0.99092182 0.00287469 -0.18828056] [ 0.14399925 0.01666167 0.98943752 -0.11740239] [ 0. 0. 0. 1. ]] SLAMing on 64.06538474999999 meters Centerline goodness : 0.886808 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.19, Z:-0.12 [[ 9.80481825e-01 1.32204163e-01 -1.45524738e-01 2.68448561e+00] [-1.33238491e-01 9.91080436e-01 2.65962015e-03 -1.90226039e-01] [ 1.44578334e-01 1.67817873e-02 9.89351038e-01 -1.18137594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09538475 meters Centerline goodness : 0.886273 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.19, Z:-0.12 [[ 9.81115576e-01 1.26217127e-01 -1.46565557e-01 2.68736955e+00] [-1.27828879e-01 9.91794960e-01 -1.59242120e-03 -1.92611677e-01] [ 1.45161990e-01 2.02976601e-02 9.89199677e-01 -1.19550359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12538475 meters Centerline goodness : 0.883342 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.19, Z:-0.12 [[ 9.81192701e-01 1.24727417e-01 -1.47322623e-01 2.68990375e+00] [-1.26377041e-01 9.91980548e-01 -1.85347271e-03 -1.94968877e-01] [ 1.45909998e-01 2.04368111e-02 9.89086755e-01 -1.20120498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15538475 meters Centerline goodness : 0.882409 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.20, Z:-0.12 [[ 0.98174221 0.11951773 -0.14797885 2.6910038 ] [-0.12166431 0.99255603 -0.00550718 -0.19738263] [ 0.14621909 0.02341037 0.98897519 -0.12038394] [ 0. 0. 0. 1. ]] SLAMing on 64.18538475 meters Centerline goodness : 0.883488 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.20, Z:-0.12 [[ 0.98177884 0.11874284 -0.14835919 2.69247135] [-0.12088698 0.99265111 -0.00548715 -0.19833213] [ 0.14661736 0.02332187 0.98891832 -0.1205738 ] [ 0. 0. 0. 1. ]] SLAMing on 64.21538475 meters Centerline goodness : 0.882189 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.20, Z:-0.12 [[ 0.98194591 0.11634111 -0.14915422 2.69613168] [-0.11857406 0.99292625 -0.00613574 -0.19911514] [ 0.14738531 0.02371078 0.98879491 -0.12127402] [ 0. 0. 0. 1. ]] SLAMing on 64.24538475 meters Centerline goodness : 0.882999 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.20, Z:-0.12 [[ 0.98200919 0.11528019 -0.14956075 2.6975128 ] [-0.11752177 0.99305091 -0.00620723 -0.20016666] [ 0.14780587 0.0236722 0.98873305 -0.12114552] [ 0. 0. 0. 1. ]] SLAMing on 64.27538474999999 meters Centerline goodness : 0.886531 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.20, Z:-0.12 [[ 0.9825978 0.1089324 -0.15045033 2.69963316] [-0.11180349 0.99367238 -0.01073273 -0.19942 ] [ 0.1483292 0.02736683 0.98855931 -0.12103324] [ 0. 0. 0. 1. ]] SLAMing on 64.30538474999999 meters Centerline goodness : 0.883521 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.20, Z:-0.12 [[ 0.982654 0.10719868 -0.15132603 2.70240492] [-0.11013321 0.99385461 -0.01112123 -0.19906259] [ 0.14920389 0.02759434 0.98842134 -0.12082427] [ 0. 0. 0. 1. ]] SLAMing on 64.33538474999999 meters Centerline goodness : 0.885503 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.20, Z:-0.12 [[ 0.98299698 0.10063161 -0.15359107 2.71311207] [-0.10335017 0.99459676 -0.00979895 -0.19685593] [ 0.15177509 0.025506 0.98808591 -0.11590907] [ 0. 0. 0. 1. ]] SLAMing on 64.36538474999999 meters Centerline goodness : 0.887885 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.20, Z:-0.12 [[ 0.98300382 0.09944549 -0.15431814 2.71476387] [-0.10224941 0.99470526 -0.01032032 -0.1952056 ] [ 0.15247475 0.02592385 0.98796731 -0.11522935] [ 0. 0. 0. 1. ]] SLAMing on 64.39538474999999 meters Centerline goodness : 0.891128 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.19, Z:-0.11 [[ 0.98270899 0.09885593 -0.15655846 2.72185933] [-0.10124919 0.99483383 -0.00736634 -0.1906268 ] [ 0.15502145 0.02309038 0.98764122 -0.11165286] [ 0. 0. 0. 1. ]] SLAMing on 64.42538474999999 meters Centerline goodness : 0.892733 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.19, Z:-0.11 [[ 0.98268128 0.09789778 -0.15733253 2.72375927] [-0.10045916 0.99490579 -0.00839155 -0.18586175] [ 0.15570954 0.02405172 0.98751003 -0.11130012] [ 0. 0. 0. 1. ]] SLAMing on 64.45538475 meters Centerline goodness : 0.891048 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.18, Z:-0.11 [[ 0.98231782 0.09808217 -0.15947287 2.73071993] [-0.1004337 0.99492097 -0.00673346 -0.1771564 ] [ 0.15800247 0.02263085 0.98717935 -0.10965841] [ 0. 0. 0. 1. ]] SLAMing on 64.48538475 meters Centerline goodness : 0.890851 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.17, Z:-0.11 [[ 0.98216941 0.09902792 -0.15980213 2.73179071] [-0.10123197 0.99484657 -0.00569054 -0.17224953] [ 0.15841508 0.02176616 0.98713266 -0.10844227] [ 0. 0. 0. 1. ]] SLAMing on 64.51538475 meters Centerline goodness : 0.890544 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.17, Z:-0.11 [[ 0.98174732 0.10144369 -0.1608769 2.73489405] [-0.10323696 0.99465283 -0.00280561 -0.168591 ] [ 0.15973205 0.01936284 0.98697049 -0.10713853] [ 0. 0. 0. 1. ]] SLAMing on 64.54538475 meters Centerline goodness : 0.886602 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.16, Z:-0.10 [[ 9.81365861e-01 1.01725508e-01 -1.63012171e-01 2.74061252e+00] [-1.03361296e-01 9.94642650e-01 -1.56257517e-03 -1.57906089e-01] [ 1.61979904e-01 1.83826072e-02 9.86622821e-01 -1.04832834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57538475 meters Centerline goodness : 0.885269 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:-0.10 [[ 9.80922683e-01 1.01561948e-01 -1.65758439e-01 2.74735229e+00] [-1.03039123e-01 9.94677254e-01 -3.14030953e-04 -1.47127879e-01] [ 1.64844255e-01 1.73876442e-02 9.86166336e-01 -1.01730501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60538475 meters Centerline goodness : 0.885348 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.10 [[ 9.80468957e-01 1.04293762e-01 -1.66743620e-01 2.74990670e+00] [-1.05350599e-01 9.94431951e-01 2.51917887e-03 -1.42611279e-01] [ 1.66077918e-01 1.50965636e-02 9.85997068e-01 -1.00168973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63538475 meters Centerline goodness : 0.880282 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.10 [[ 0.97999624 0.10711388 -0.16773189 2.75380688] [-0.10780943 0.9941591 0.00498061 -0.12983049] [ 0.16728568 0.0132021 0.98582007 -0.09845137] [ 0. 0. 0. 1. ]] SLAMing on 64.66538474999999 meters Centerline goodness : 0.880290 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.10 [[ 0.97955991 0.11016436 -0.1683039 2.75611325] [-0.11052353 0.99384698 0.00726125 -0.12430764] [ 0.16806826 0.01148871 0.98570841 -0.0980329 ] [ 0. 0. 0. 1. ]] SLAMing on 64.69538474999999 meters Centerline goodness : 0.879961 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.10 [[ 0.97856962 0.11797738 -0.16876861 2.75746907] [-0.11749567 0.99298995 0.01287362 -0.11154948] [ 0.16910433 0.00723185 0.98557162 -0.09513274] [ 0. 0. 0. 1. ]] SLAMing on 64.72538474999999 meters Centerline goodness : 0.877059 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.09 [[ 0.97797175 0.12330262 -0.16842722 2.75712175] [-0.12224888 0.99235978 0.01665173 -0.10490097] [ 0.1691936 0.00430512 0.98557343 -0.09355482] [ 0. 0. 0. 1. ]] SLAMing on 64.75538474999999 meters Centerline goodness : 0.876689 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.09 [[ 0.97604457 0.14025308 -0.16633122 2.75418729] [-0.1376963 0.99011013 0.02686371 -0.09142227] [ 0.16845394 -0.00331698 0.98570395 -0.0884537 ] [ 0. 0. 0. 1. ]] SLAMing on 64.78538474999999 meters Centerline goodness : 0.878633 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.09 [[ 0.97607534 0.15587739 -0.15158882 2.75366831] [-0.15254121 0.98773032 0.03346628 -0.08845183] [ 0.15494551 -0.00954207 0.98787693 -0.09162645] [ 0. 0. 0. 1. ]] SLAMing on 64.81538474999999 meters Centerline goodness : 0.884749 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.09 [[ 0.97418131 0.17686896 -0.14031443 2.75940762] [-0.17285072 0.98411816 0.04042361 -0.07839306] [ 0.14523566 -0.01512647 0.98928145 -0.09304718] [ 0. 0. 0. 1. ]] SLAMing on 64.84538475 meters Centerline goodness : 0.886457 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.09 [[ 0.97298068 0.18298354 -0.14080345 2.76315138] [-0.17884433 0.98299671 0.04161929 -0.07228853] [ 0.14602497 -0.01531287 0.98916239 -0.09318923] [ 0. 0. 0. 1. ]] SLAMing on 64.87538475 meters Centerline goodness : 0.885394 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.10 [[ 0.97020414 0.19296544 -0.14652054 2.77513578] [-0.18912496 0.98114455 0.03983858 -0.06246762] [ 0.1514453 -0.01094086 0.98840509 -0.09507026] [ 0. 0. 0. 1. ]] SLAMing on 64.90538475 meters Centerline goodness : 0.885829 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.10 [[ 0.96926754 0.19709907 -0.14721543 2.77860314] [-0.19310378 0.9803172 0.04109882 -0.05901021] [ 0.15241836 -0.0114079 0.98825022 -0.09514346] [ 0. 0. 0. 1. ]] SLAMing on 64.93538475 meters Centerline goodness : 0.885656 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.10 [[ 9.67321316e-01 2.00704932e-01 -1.54941928e-01 2.79076027e+00] [-1.97809682e-01 9.79649080e-01 3.40442398e-02 -5.11126552e-02] [ 1.58621564e-01 -2.28270528e-03 9.87336816e-01 -9.56625193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96538475 meters Centerline goodness : 0.887526 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.10 [[ 9.66905008e-01 2.01810947e-01 -1.56099478e-01 2.79410873e+00] [-1.99187377e-01 9.79424458e-01 3.24363985e-02 -4.76833140e-02] [ 1.59433667e-01 -2.69870591e-04 9.87208607e-01 -9.57772547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99538475 meters Centerline goodness : 0.887876 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.09 [[ 9.65464634e-01 2.07485107e-01 -1.57568941e-01 2.79843933e+00] [-2.04752169e-01 9.78238166e-01 3.35654530e-02 -4.41769533e-02] [ 1.61104283e-01 -1.43675453e-04 9.86937379e-01 -9.45702620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02538474999999 meters Centerline goodness : 0.888836 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.09 [[ 9.63779744e-01 2.13404747e-01 -1.59959426e-01 2.80310788e+00] [-2.10528251e-01 9.76963875e-01 3.49205134e-02 -4.55850558e-02] [ 1.63726784e-01 2.02947725e-05 9.86505722e-01 -9.27697081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05538474999999 meters Centerline goodness : 0.886383 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.09 [[ 9.63212844e-01 2.14843329e-01 -1.61441511e-01 2.80568046e+00] [-2.11986463e-01 9.76648352e-01 3.49247163e-02 -4.71506175e-02] [ 1.65174928e-01 5.83479509e-04 9.86264114e-01 -9.22040615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08538474999999 meters Centerline goodness : 0.889857 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.09 [[ 9.62558032e-01 2.16163143e-01 -1.63571178e-01 2.80872967e+00] [-2.13443398e-01 9.76355297e-01 3.42381374e-02 -5.09239418e-02] [ 1.67104609e-01 1.95699377e-03 9.85937229e-01 -9.12527051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11538474999999 meters Centerline goodness : 0.890604 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.09 [[ 0.96265347 0.21424883 -0.16551658 2.81095411] [-0.21199627 0.97676687 0.0313698 -0.0529856 ] [ 0.16839205 0.00489065 0.98570797 -0.09089724] [ 0. 0. 0. 1. ]] SLAMing on 65.14538474999999 meters Centerline goodness : 0.894724 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.09 [[ 0.96249501 0.21350521 -0.16738842 2.81129671] [-0.21153319 0.97691835 0.02973628 -0.05925655] [ 0.16987367 0.00678718 0.98544247 -0.08912726] [ 0. 0. 0. 1. ]] SLAMing on 65.17538474999999 meters Centerline goodness : 0.896158 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.09 [[ 0.96260305 0.21135609 -0.16948149 2.81262977] [-0.20990211 0.97735887 0.02665975 -0.06261594] [ 0.17127893 0.00991177 0.98517272 -0.08789468] [ 0. 0. 0. 1. ]] SLAMing on 65.20538475 meters Centerline goodness : 0.897104 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.09 [[ 0.96263547 0.21010119 -0.1708521 2.8129176 ] [-0.20899772 0.97760599 0.02462693 -0.06603709] [ 0.17220019 0.01200094 0.98498887 -0.08675143] [ 0. 0. 0. 1. ]] SLAMing on 65.23538475 meters Centerline goodness : 0.903044 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.09 [[ 0.96217381 0.20994479 -0.1736224 2.81674506] [-0.20904648 0.97761956 0.02365527 -0.07384412] [ 0.17470296 0.01353467 0.98452816 -0.08692736] [ 0. 0. 0. 1. ]] SLAMing on 65.26538475 meters Centerline goodness : 0.901606 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.09, Z:-0.09 [[ 0.96065145 0.2144339 -0.17654149 2.82701165] [-0.21476588 0.97650956 0.01745543 -0.08553773] [ 0.17613749 0.02114651 0.98413841 -0.08648957] [ 0. 0. 0. 1. ]] SLAMing on 65.29538475 meters Centerline goodness : 0.900234 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.09, Z:-0.09 [[ 0.96037691 0.21341713 -0.17924656 2.82969003] [-0.21428793 0.9766596 0.01472109 -0.08992306] [ 0.1782046 0.02427258 0.98369404 -0.08532649] [ 0. 0. 0. 1. ]] SLAMing on 65.32538475 meters Centerline goodness : 0.897834 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.09 [[ 9.59682826e-01 2.13371528e-01 -1.82979408e-01 2.84386685e+00] [-2.16822712e-01 9.76210294e-01 1.17197935e-03 -1.03010006e-01] [ 1.78876449e-01 3.85493631e-02 9.83116047e-01 -8.61224958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35538475 meters Centerline goodness : 0.902699 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.11, Z:-0.09 [[ 9.59690422e-01 2.11374956e-01 -1.85242874e-01 2.84647332e+00] [-2.15325683e-01 9.76541507e-01 -1.23933692e-03 -1.07956002e-01] [ 1.80635391e-01 4.10769283e-02 9.82691987e-01 -8.61527138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38538475 meters Centerline goodness : 0.902257 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.12, Z:-0.09 [[ 0.95914636 0.21005856 -0.18950902 2.85041836] [-0.21462409 0.97668987 -0.00366131 -0.1206442 ] [ 0.18432245 0.04418493 0.98187215 -0.08530199] [ 0. 0. 0. 1. ]] SLAMing on 65.41538474999999 meters Centerline goodness : 0.902583 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.13, Z:-0.09 [[ 9.58971844e-01 2.11209622e-01 -1.89112393e-01 2.84927003e+00] [-2.15466478e-01 9.76509190e-01 -1.99959714e-03 -1.27533814e-01] [ 1.84247655e-01 4.26649385e-02 9.81953413e-01 -8.58950210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44538474999999 meters Centerline goodness : 0.902583 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.13, Z:-0.09 [[ 9.58971844e-01 2.11209622e-01 -1.89112393e-01 2.84927003e+00] [-2.15466478e-01 9.76509190e-01 -1.99959714e-03 -1.27533814e-01] [ 1.84247655e-01 4.26649385e-02 9.81953413e-01 -8.58950210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47538474999999 meters Centerline goodness : 0.904464 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.14, Z:-0.09 [[ 9.59271429e-01 2.10512730e-01 -1.88368563e-01 2.84731853e+00] [-2.14567566e-01 9.76708456e-01 -1.16246662e-03 -1.39789138e-01] [ 1.83736454e-01 4.15329050e-02 9.82097721e-01 -8.74302869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50538474999999 meters Centerline goodness : 0.906387 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:-0.09 [[ 9.59312836e-01 2.10327010e-01 -1.88365157e-01 2.84747288e+00] [-2.14241477e-01 9.76780632e-01 -4.31338643e-04 -1.46073731e-01] [ 1.83900715e-01 4.07694181e-02 9.82098967e-01 -8.84167496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53538474999999 meters Centerline goodness : 0.906435 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.16, Z:-0.09 [[ 0.9605304 0.20509675 -0.18792728 2.84455619] [-0.20956559 0.97778638 -0.00400852 -0.15923237] [ 0.1829306 0.04323339 0.98217476 -0.09093856] [ 0. 0. 0. 1. ]] SLAMing on 65.56538474999999 meters Centerline goodness : 0.907420 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.17, Z:-0.09 [[ 0.96115596 0.20194313 -0.18814408 2.84302571] [-0.2067085 0.97838508 -0.00585169 -0.16662481] [ 0.18289565 0.04451536 0.98212401 -0.09144909] [ 0. 0. 0. 1. ]] SLAMing on 65.59538475 meters Centerline goodness : 0.911693 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.18, Z:-0.09 [[ 0.96235515 0.19628179 -0.18800538 2.84001187] [-0.20119759 0.97952393 -0.00723826 -0.18104961] [ 0.18273503 0.04479201 0.98214133 -0.09055289] [ 0. 0. 0. 1. ]] SLAMing on 65.62538475 meters Centerline goodness : 0.912517 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.09 [[ 0.96298245 0.19281875 -0.18837655 2.83942291] [-0.19805777 0.98014706 -0.00921254 -0.18728319] [ 0.18286037 0.04618095 0.98205367 -0.09119132] [ 0. 0. 0. 1. ]] SLAMing on 65.65538475 meters Centerline goodness : 0.916927 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.09 [[ 0.96420263 0.18707959 -0.18792156 2.83533918] [-0.19250586 0.98123545 -0.01088503 -0.20070334] [ 0.18235892 0.04667138 0.98212372 -0.08949583] [ 0. 0. 0. 1. ]] SLAMing on 65.68538475 meters Centerline goodness : 0.918508 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.09 [[ 0.96475426 0.18401671 -0.18811451 2.83384354] [-0.18975588 0.98174773 -0.0128103 -0.20618287] [ 0.18232368 0.04805462 0.98206356 -0.08955922] [ 0. 0. 0. 1. ]] SLAMing on 65.71538475 meters Centerline goodness : 0.922769 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.09 [[ 0.96522494 0.18186627 -0.18779104 2.83071066] [-0.1874007 0.98221029 -0.01199688 -0.21805339] [ 0.18226846 0.04677186 0.98213573 -0.08791247] [ 0. 0. 0. 1. ]] SLAMing on 65.74538475 meters Centerline goodness : 0.922851 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.09 [[ 0.96509732 0.18293802 -0.18740559 2.82903059] [-0.18808274 0.98210335 -0.00989357 -0.22398258] [ 0.18224175 0.04479602 0.98223279 -0.08704734] [ 0. 0. 0. 1. ]] SLAMing on 65.77538474999999 meters Centerline goodness : 0.927905 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.23, Z:-0.09 [[ 0.96549466 0.18160102 -0.18665779 2.82586256] [-0.18683872 0.98233221 -0.01071078 -0.23161538] [ 0.18141487 0.04521611 0.98236661 -0.08763145] [ 0. 0. 0. 1. ]] SLAMing on 65.80538474999999 meters Centerline goodness : 0.929302 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.24, Z:-0.09 [[ 0.96533044 0.18292551 -0.18621334 2.82471294] [-0.18781299 0.98216539 -0.00879898 -0.23794402] [ 0.18128274 0.04346721 0.98246993 -0.08788832] [ 0. 0. 0. 1. ]] SLAMing on 65.83538474999999 meters Centerline goodness : 0.927902 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.24, Z:-0.09 [[ 0.96520715 0.18369915 -0.18609078 2.82445472] [-0.18840654 0.98206031 -0.0077795 -0.24043435] [ 0.18132328 0.04256955 0.98250176 -0.0879651 ] [ 0. 0. 0. 1. ]] SLAMing on 65.86538474999999 meters Centerline goodness : 0.929586 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.25, Z:-0.09 [[ 0.96497903 0.18587994 -0.18510567 2.821059 ] [-0.19007589 0.98175653 -0.00502632 -0.2466942 ] [ 0.18079441 0.04003442 0.98270577 -0.08655226] [ 0. 0. 0. 1. ]] SLAMing on 65.89538474999999 meters Centerline goodness : 0.930502 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.25, Z:-0.09 [[ 0.96478077 0.18712364 -0.18488595 2.81947038] [-0.19103316 0.98157769 -0.00340064 -0.25031222] [ 0.18084358 0.03860022 0.9827541 -0.08553563] [ 0. 0. 0. 1. ]] SLAMing on 65.92538474999999 meters Centerline goodness : 0.932755 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.26, Z:-0.09 [[ 9.64611117e-01 1.88257735e-01 -1.84619660e-01 2.81844496e+00] [-1.91897539e-01 9.81413157e-01 -1.88431461e-03 -2.55887781e-01] [ 1.80833426e-01 3.72456891e-02 9.82808237e-01 -8.55672467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95538475 meters Centerline goodness : 0.932333 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.26, Z:-0.09 [[ 9.64490826e-01 1.88961843e-01 -1.84528774e-01 2.81816254e+00] [-1.92452131e-01 9.81305828e-01 -1.02399765e-03 -2.58370375e-01] [ 1.80885665e-01 3.65005920e-02 9.82826578e-01 -8.56943079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98538475 meters Centerline goodness : 0.933322 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.26, Z:-0.09 [[ 9.64250431e-01 1.90782109e-01 -1.83911102e-01 2.81673917e+00] [-1.93986434e-01 9.81004041e-01 5.79177742e-04 -2.62635632e-01] [ 1.80528031e-01 3.51177864e-02 9.82942710e-01 -8.61000604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01538475 meters Centerline goodness : 0.933714 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.26, Z:-0.09 [[ 9.64085074e-01 1.91792992e-01 -1.83726478e-01 2.81611520e+00] [-1.94878820e-01 9.80826487e-01 1.28389267e-03 -2.63709739e-01] [ 1.80450037e-01 3.45666174e-02 9.82976568e-01 -8.61141072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04538475 meters Centerline goodness : 0.935298 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.27, Z:-0.09 [[ 0.96319783 0.19704176 -0.18282364 2.81528779] [-0.19924449 0.97992874 0.00642705 -0.26868735] [ 0.18042053 0.03023608 0.98312472 -0.08575031] [ 0. 0. 0. 1. ]] SLAMing on 66.07538475 meters Centerline goodness : 0.936398 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.27, Z:-0.09 [[ 0.96304041 0.1980389 -0.18257535 2.8142522 ] [-0.20009624 0.97974926 0.00727206 -0.27076426] [ 0.18031821 0.02952935 0.98316497 -0.0856435 ] [ 0. 0. 0. 1. ]] SLAMing on 66.10538475 meters Centerline goodness : 0.933675 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.27, Z:-0.09 [[ 0.96279912 0.19973588 -0.18199844 2.81332735] [-0.20157652 0.97943571 0.00852073 -0.27381055] [ 0.17995766 0.02848286 0.9832619 -0.08648901] [ 0. 0. 0. 1. ]] SLAMing on 66.13538475 meters Centerline goodness : 0.931899 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.28, Z:-0.09 [[ 0.9626915 0.20047664 -0.18175313 2.81283624] [-0.20222241 0.97929762 0.00906998 -0.27545479] [ 0.17980872 0.02802296 0.98330236 -0.08688925] [ 0. 0. 0. 1. ]] SLAMing on 66.16538474999999 meters Centerline goodness : 0.935253 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.28, Z:-0.09 [[ 0.96246537 0.20204186 -0.18121669 2.81110693] [-0.20350336 0.97901588 0.01069028 -0.28066459] [ 0.1795739 0.02658918 0.98338509 -0.08697077] [ 0. 0. 0. 1. ]] SLAMing on 66.19538474999999 meters Centerline goodness : 0.932359 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.28, Z:-0.09 [[ 0.96234458 0.20290618 -0.18089222 2.81018323] [-0.20421393 0.97885796 0.01156574 -0.28335467] [ 0.17941455 0.02581048 0.98343492 -0.08707488] [ 0. 0. 0. 1. ]] SLAMing on 66.22538474999999 meters Centerline goodness : 0.932287 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.29, Z:-0.09 [[ 0.96218009 0.20405449 -0.18047505 2.80918665] [-0.2051206 0.97865117 0.0129392 -0.2874376 ] [ 0.17926242 0.02456931 0.98349445 -0.08728038] [ 0. 0. 0. 1. ]] SLAMing on 66.25538474999999 meters Centerline goodness : 0.933305 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.29, Z:-0.09 [[ 0.96209085 0.20464215 -0.18028531 2.8085628 ] [-0.20556956 0.9785462 0.01372937 -0.28990406] [ 0.17922711 0.02385227 0.98351854 -0.08727051] [ 0. 0. 0. 1. ]] SLAMing on 66.28538474999999 meters Centerline goodness : 0.934933 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.29, Z:-0.09 [[ 0.96261864 0.20257567 -0.17980112 2.80546926] [-0.20386286 0.97893205 0.01148843 -0.29353286] [ 0.17834036 0.02559579 0.98363589 -0.08773925] [ 0. 0. 0. 1. ]] SLAMing on 66.31538474999999 meters Centerline goodness : 0.932182 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.30, Z:-0.09 [[ 0.96255666 0.20287543 -0.17979499 2.80543545] [-0.20403592 0.97888721 0.01221407 -0.29635338] [ 0.17847695 0.0249279 0.98362827 -0.08784723] [ 0. 0. 0. 1. ]] SLAMing on 66.34538475 meters Centerline goodness : 0.933952 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.30, Z:-0.09 [[ 0.9625439 0.20320468 -0.1794912 2.80482204] [-0.20416829 0.97884562 0.01328796 -0.30148707] [ 0.17839435 0.02385617 0.98366983 -0.08800338] [ 0. 0. 0. 1. ]] SLAMing on 66.37538475 meters Centerline goodness : 0.933942 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.30, Z:-0.09 [[ 0.96247112 0.20362503 -0.17940508 2.80438658] [-0.2044525 0.97877542 0.01406616 -0.3039942 ] [ 0.1784615 0.02314155 0.98367472 -0.08782297] [ 0. 0. 0. 1. ]] SLAMing on 66.40538475 meters Centerline goodness : 0.932705 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.31, Z:-0.09 [[ 0.96308074 0.2012706 -0.17878934 2.80058579] [-0.20248757 0.97921602 0.01160872 -0.30780234] [ 0.17740988 0.02502249 0.98381889 -0.08798688] [ 0. 0. 0. 1. ]] SLAMing on 66.43538475 meters Centerline goodness : 0.937072 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.31, Z:-0.09 [[ 0.96299701 0.20178784 -0.1786573 2.79977954] [-0.20282199 0.97913389 0.01265187 -0.3108094 ] [ 0.17748241 0.02405191 0.98383002 -0.08736595] [ 0. 0. 0. 1. ]] SLAMing on 66.46538475 meters Centerline goodness : 0.935429 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.32, Z:-0.09 [[ 0.96290553 0.20260702 -0.17822271 2.79847131] [-0.2033902 0.97899678 0.01406144 -0.31668734] [ 0.17732841 0.02270892 0.9838897 -0.08736365] [ 0. 0. 0. 1. ]] SLAMing on 66.49538475 meters Centerline goodness : 0.936515 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.32, Z:-0.09 [[ 0.96283493 0.20304498 -0.17810568 2.7981727 ] [-0.20369291 0.97892239 0.01483743 -0.31933488] [ 0.17736431 0.02199287 0.9838995 -0.08742855] [ 0. 0. 0. 1. ]] SLAMing on 66.52538474999999 meters Centerline goodness : 0.932605 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.32, Z:-0.09 [[ 0.96288542 0.20307068 -0.17780319 2.79820021] [-0.20350497 0.97894336 0.01598807 -0.32476365] [ 0.17730596 0.02078916 0.98393618 -0.08786751] [ 0. 0. 0. 1. ]] SLAMing on 66.55538474999999 meters Centerline goodness : 0.933996 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.33, Z:-0.09 [[ 0.9628763 0.2030202 -0.17791016 2.7985235 ] [-0.20331553 0.9789697 0.01676644 -0.32796343] [ 0.17757259 0.02002789 0.98390389 -0.08775194] [ 0. 0. 0. 1. ]] SLAMing on 66.58538474999999 meters Centerline goodness : 0.932220 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.33, Z:-0.09 [[ 0.96361971 0.19941434 -0.17796341 2.79824852] [-0.20013323 0.97966738 0.01408941 -0.33322594] [ 0.17715458 0.02203956 0.98393623 -0.08933579] [ 0. 0. 0. 1. ]] SLAMing on 66.61538474999999 meters Centerline goodness : 0.931813 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.34, Z:-0.09 [[ 0.96431045 0.19603525 -0.17797621 2.79879533] [-0.19715331 0.98030452 0.01155913 -0.33835983] [ 0.17673688 0.023942 0.9839669 -0.09150017] [ 0. 0. 0. 1. ]] SLAMing on 66.64538474999999 meters Centerline goodness : 0.929255 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.34, Z:-0.09 [[ 0.96430663 0.19590147 -0.17814414 2.79956425] [-0.1969174 0.98034495 0.01213769 -0.34107485] [ 0.1770205 0.02337522 0.98392954 -0.0916822 ] [ 0. 0. 0. 1. ]] SLAMing on 66.67538474999999 meters Centerline goodness : 0.931424 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.34, Z:-0.09 [[ 0.96430887 0.1959382 -0.17809161 2.79976865] [-0.19685943 0.98034998 0.01266039 -0.34345727] [ 0.17707276 0.02285049 0.98393246 -0.09187357] [ 0. 0. 0. 1. ]] SLAMing on 66.70538475 meters Centerline goodness : 0.928300 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.35, Z:-0.09 [[ 0.9643514 0.1961812 -0.17759313 2.799253 ] [-0.19696224 0.98031952 0.0133983 -0.34780464] [ 0.1767265 0.02205847 0.98401279 -0.09258174] [ 0. 0. 0. 1. ]] SLAMing on 66.73538475 meters Centerline goodness : 0.927969 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.35, Z:-0.09 [[ 0.96433919 0.19620803 -0.17762977 2.79972075] [-0.19692031 0.98032254 0.01378814 -0.35027115] [ 0.17683981 0.02168247 0.98400079 -0.09306898] [ 0. 0. 0. 1. ]] SLAMing on 66.76538475 meters Centerline goodness : 0.923919 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.36, Z:-0.09 [[ 0.96446253 0.19529925 -0.17796133 2.80131403] [-0.19598005 0.98050907 0.01392027 -0.35518832] [ 0.17721132 0.02145129 0.98393902 -0.09409604] [ 0. 0. 0. 1. ]] SLAMing on 66.79538475 meters Centerline goodness : 0.924527 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.36, Z:-0.09 [[ 0.96441718 0.19548606 -0.17800197 2.80124151] [-0.19603566 0.98048702 0.01467054 -0.35779806] [ 0.17739651 0.02074621 0.98392077 -0.09374432] [ 0. 0. 0. 1. ]] SLAMing on 66.82538475 meters Centerline goodness : 0.923843 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.36, Z:-0.09 [[ 0.96440294 0.19566382 -0.17788378 2.8010673 ] [-0.19601206 0.98047435 0.01578981 -0.3625252 ] [ 0.17749998 0.01963963 0.98392482 -0.09357484] [ 0. 0. 0. 1. ]] SLAMing on 66.85538475 meters Centerline goodness : 0.923201 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.37, Z:-0.09 [[ 0.96432864 0.19620292 -0.17769268 2.80063281] [-0.19631865 0.9803909 0.01710742 -0.3678158 ] [ 0.17756481 0.01838721 0.98393732 -0.09351712] [ 0. 0. 0. 1. ]] SLAMing on 66.88538475 meters Centerline goodness : 0.922621 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.37, Z:-0.09 [[ 0.96425436 0.19682058 -0.17741249 2.79993081] [-0.19680642 0.98027976 0.0178555 -0.37031258] [ 0.1774282 0.01769867 0.98397459 -0.09361954] [ 0. 0. 0. 1. ]] SLAMing on 66.91538474999999 meters Centerline goodness : 0.920725 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.37, Z:-0.09 [[ 0.9640732 0.19856009 -0.17645612 2.79713998] [-0.19826169 0.97995509 0.01950171 -0.3744129 ] [ 0.17679134 0.01618341 0.9841153 -0.09325295] [ 0. 0. 0. 1. ]] SLAMing on 66.94538474999999 meters Centerline goodness : 0.919481 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.38, Z:-0.09 [[ 0.96394492 0.19935957 -0.17625534 2.79594779] [-0.19890465 0.97980592 0.02042808 -0.37682874] [ 0.17676856 0.01536646 0.98413249 -0.09267333] [ 0. 0. 0. 1. ]] SLAMing on 66.97538474999999 meters Centerline goodness : 0.921234 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.38, Z:-0.09 [[ 0.9655475 0.1909236 -0.17682254 2.79419384] [-0.19157635 0.98138438 0.01353545 -0.38085864] [ 0.17611512 0.0208059 0.98414967 -0.09322573] [ 0. 0. 0. 1. ]] SLAMing on 67.00538474999999 meters Centerline goodness : 0.921035 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.38, Z:-0.09 [[ 0.9663203 0.18640893 -0.17741701 2.7938539 ] [-0.18766277 0.98218424 0.00983876 -0.38256284] [ 0.17609022 0.02378718 0.98408658 -0.09341705] [ 0. 0. 0. 1. ]] SLAMing on 67.03538474999999 meters Centerline goodness : 0.919529 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.39, Z:-0.10 [[ 0.96722795 0.18063293 -0.17844283 2.79676932] [-0.18259468 0.98317285 0.00550718 -0.38526751] [ 0.17643492 0.02725601 0.98393487 -0.0955329 ] [ 0. 0. 0. 1. ]] SLAMing on 67.06538474999999 meters Centerline goodness : 0.920829 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.39, Z:-0.10 [[ 0.96728178 0.1797772 -0.17901429 2.79977078] [-0.18183789 0.98331597 0.00496783 -0.38579877] [ 0.17692072 0.02774629 0.98383393 -0.09717282] [ 0. 0. 0. 1. ]] SLAMing on 67.09538475 meters Centerline goodness : 0.915559 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96723302 0.18002805 -0.17902563 2.8053179 ] [-0.18187523 0.9833022 0.0061793 -0.38754706] [ 0.17714875 0.0265835 0.983825 -0.10030871] [ 0. 0. 0. 1. ]] SLAMing on 67.12538475 meters Centerline goodness : 0.914448 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96724084 0.17934836 -0.17966449 2.80725287] [-0.18120232 0.98342645 0.00617612 -0.38869077] [ 0.17779449 0.02658183 0.98370856 -0.10043927] [ 0. 0. 0. 1. ]] SLAMing on 67.15538475 meters Centerline goodness : 0.916469 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96721456 0.1785157 -0.18063263 2.80995815] [-0.18041101 0.9835729 0.00601798 -0.38980999] [ 0.17873966 0.02676743 0.98353223 -0.10066166] [ 0. 0. 0. 1. ]] SLAMing on 67.18538475 meters Centerline goodness : 0.917143 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96717925 0.17832281 -0.18101182 2.81061658] [-0.18021347 0.98360871 0.00608328 -0.39021587] [ 0.17912959 0.02673715 0.98346211 -0.10032567] [ 0. 0. 0. 1. ]] SLAMing on 67.21538475 meters Centerline goodness : 0.917565 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96715851 0.17833059 -0.18111493 2.81093967] [-0.18022444 0.98360671 0.00608211 -0.39002021] [ 0.17923048 0.02675897 0.98344313 -0.10030065] [ 0. 0. 0. 1. ]] SLAMing on 67.24538475 meters Centerline goodness : 0.917320 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.39, Z:-0.10 [[ 0.96724953 0.17708958 -0.18184506 2.81351731] [-0.17902685 0.98382686 0.00583933 -0.38949641] [ 0.17993814 0.02690706 0.98330986 -0.10003396] [ 0. 0. 0. 1. ]] SLAMing on 67.27538474999999 meters Centerline goodness : 0.917754 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.39, Z:-0.10 [[ 9.67994574e-01 1.71825622e-01 -1.82927474e-01 2.81520574e+00] [-1.74536851e-01 9.84649788e-01 1.29743649e-03 -3.87467946e-01] [ 1.80342431e-01 3.06716739e-02 9.83125554e-01 -1.00352304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30538474999999 meters Centerline goodness : 0.916127 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.39, Z:-0.10 [[ 9.68015790e-01 1.71158973e-01 -1.83439462e-01 2.81708247e+00] [-1.73953893e-01 9.84753416e-01 8.68234752e-04 -3.86187779e-01] [ 1.80791243e-01 3.10695435e-02 9.83030625e-01 -1.00601825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33538474999999 meters Centerline goodness : 0.916073 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.68010288e-01 1.70562206e-01 -1.84023413e-01 2.81936880e+00] [-1.73444670e-01 9.84843517e-01 4.39389001e-04 -3.83936734e-01] [ 1.81309209e-01 3.14925471e-02 9.82921762e-01 -1.00859695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36538474999999 meters Centerline goodness : 0.916073 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.68010288e-01 1.70562206e-01 -1.84023413e-01 2.81936880e+00] [-1.73444670e-01 9.84843517e-01 4.39389001e-04 -3.83936734e-01] [ 1.81309209e-01 3.14925471e-02 9.82921762e-01 -1.00859695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39538474999999 meters Centerline goodness : 0.916386 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.67965961e-01 1.70442515e-01 -1.84367156e-01 2.81985473e+00] [-1.73297650e-01 9.84869290e-01 6.36623759e-04 -3.83808346e-01] [ 1.81686058e-01 3.13341647e-02 9.82857236e-01 -1.00135211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42538474999999 meters Centerline goodness : 0.914015 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.67940237e-01 1.70169089e-01 -1.84754374e-01 2.81998783e+00] [-1.72885103e-01 9.84940962e-01 1.42924089e-03 -3.84729681e-01] [ 1.82215364e-01 3.05578593e-02 9.82783689e-01 -9.80748325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45538475 meters Centerline goodness : 0.913365 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.67929908e-01 1.69971305e-01 -1.84990401e-01 2.82022468e+00] [-1.72625614e-01 9.84985898e-01 1.78303566e-03 -3.84936574e-01] [ 1.82516001e-01 3.02082279e-02 9.82738710e-01 -9.71246506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48538475 meters Centerline goodness : 0.915594 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 9.68666285e-01 1.64745815e-01 -1.85861359e-01 2.82143253e+00] [-1.68095589e-01 9.85768018e-01 -2.29942003e-03 -3.83284333e-01] [ 1.82837364e-01 3.34698453e-02 9.82573289e-01 -9.67718980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51538475 meters Centerline goodness : 0.911647 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.38, Z:-0.10 [[ 0.96941113 0.15867164 -0.18725748 2.8240759 ] [-0.16273994 0.98664788 -0.00645566 -0.38263644] [ 0.18373287 0.03673246 0.98228965 -0.09625772] [ 0. 0. 0. 1. ]] SLAMing on 67.54538475 meters Centerline goodness : 0.913304 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.38, Z:-0.10 [[ 0.96949082 0.15741826 -0.18790168 2.82628778] [-0.1614771 0.98685575 -0.00639404 -0.38332371] [ 0.18442532 0.03654078 0.98216703 -0.09569352] [ 0. 0. 0. 1. ]] SLAMing on 67.57538475 meters Centerline goodness : 0.912184 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.38, Z:-0.09 [[ 0.9695396 0.15609353 -0.18875319 2.82876507] [-0.16015826 0.98707072 -0.00638092 -0.38351871] [ 0.18531673 0.03641694 0.98200383 -0.09489505] [ 0. 0. 0. 1. ]] SLAMing on 67.60538475 meters Centerline goodness : 0.911322 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.38, Z:-0.09 [[ 0.96968191 0.15374479 -0.18994615 2.83275084] [-0.15771765 0.9874667 -0.00588639 -0.38404574] [ 0.18666049 0.03566579 0.98177686 -0.09265695] [ 0. 0. 0. 1. ]] SLAMing on 67.63538475 meters Centerline goodness : 0.914184 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.38, Z:-0.09 [[ 0.96966322 0.15327175 -0.19042326 2.83380732] [-0.15723604 0.98754405 -0.00579444 -0.38374642] [ 0.18716323 0.03556005 0.98168498 -0.09192134] [ 0. 0. 0. 1. ]] SLAMing on 67.66538474999999 meters Centerline goodness : 0.915638 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.09 [[ 0.96961971 0.15277527 -0.19104275 2.83544972] [-0.15688511 0.98759558 -0.00648397 -0.37997566] [ 0.18768239 0.03625874 0.9815603 -0.09167905] [ 0. 0. 0. 1. ]] SLAMing on 67.69538474999999 meters Centerline goodness : 0.917015 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.09 [[ 0.96901975 0.155976 -0.19149988 2.83883083] [-0.15952038 0.98718966 -0.00313582 -0.37791103] [ 0.18855759 0.0335868 0.98148763 -0.09137229] [ 0. 0. 0. 1. ]] SLAMing on 67.72538474999999 meters Centerline goodness : 0.917838 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.09 [[ 9.68374313e-01 1.59456140e-01 -1.91898226e-01 2.84147920e+00] [-1.62306579e-01 9.86739989e-01 8.76652929e-04 -3.77978271e-01] [ 1.89493441e-01 3.02974165e-02 9.81414440e-01 -9.04508127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters Centerline goodness : 0.916341 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.38, Z:-0.09 [[ 0.96772727 0.16279825 -0.19235557 2.8451082 ] [-0.165134 0.98626328 0.00393681 -0.37555659] [ 0.19035415 0.02795469 0.9813174 -0.09083937] [ 0. 0. 0. 1. ]] SLAMing on 67.78538474999999 meters Centerline goodness : 0.915893 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.38, Z:-0.09 [[ 0.96701351 0.16638277 -0.1928773 2.84771695] [-0.16801183 0.98575254 0.00799748 -0.37577051] [ 0.19145993 0.024672 0.98119029 -0.0897215 ] [ 0. 0. 0. 1. ]] SLAMing on 67.81538474999999 meters Centerline goodness : 0.914350 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96696881 0.16620572 -0.19325368 2.84892707] [-0.16795986 0.98576614 0.00738938 -0.37349451] [ 0.19173109 0.02531356 0.981121 -0.09015057] [ 0. 0. 0. 1. ]] SLAMing on 67.84538475 meters Centerline goodness : 0.915434 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96621564 0.17015317 -0.19358524 2.85155527] [-0.17137387 0.98514959 0.01054946 -0.3706057 ] [ 0.19250544 0.0229824 0.98102674 -0.09019967] [ 0. 0. 0. 1. ]] SLAMing on 67.87538475 meters Centerline goodness : 0.914499 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96549811 0.17416795 -0.19359476 2.85329613] [-0.17470352 0.98451523 0.01443775 -0.36993513] [ 0.19311158 0.01988207 0.98097534 -0.08961514] [ 0. 0. 0. 1. ]] SLAMing on 67.90538475 meters Centerline goodness : 0.914467 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96463514 0.17892877 -0.19355501 2.85503172] [-0.1789067 0.9837061 0.01773987 -0.36576715] [ 0.19357541 0.01751579 0.98092903 -0.08979623] [ 0. 0. 0. 1. ]] SLAMing on 67.93538475 meters Centerline goodness : 0.911953 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96367276 0.18475503 -0.19287405 2.85410757] [-0.18404429 0.98267716 0.02175551 -0.3617444 ] [ 0.19355236 0.01453217 0.98098231 -0.08884438] [ 0. 0. 0. 1. ]] SLAMing on 67.96538475 meters Centerline goodness : 0.916500 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96349155 0.18610428 -0.19248177 2.85189123] [-0.18534302 0.98242497 0.0221167 -0.35946421] [ 0.1932149 0.0143659 0.98105128 -0.08779966] [ 0. 0. 0. 1. ]] SLAMing on 67.99538475 meters Centerline goodness : 0.920573 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.08 [[ 0.96285743 0.19056136 -0.19129018 2.84495863] [-0.18935974 0.98159666 0.02471618 -0.35716159] [ 0.19247975 0.01242451 0.98122229 -0.0839651 ] [ 0. 0. 0. 1. ]] SLAMing on 68.02538474999999 meters Centerline goodness : 0.923459 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.08 [[ 0.96270859 0.19141052 -0.19119149 2.84376421] [-0.1901902 0.98143172 0.02488924 -0.35531335] [ 0.19240546 0.01240166 0.98123715 -0.0831617 ] [ 0. 0. 0. 1. ]] SLAMing on 68.05538474999999 meters Centerline goodness : 0.925167 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.35, Z:-0.08 [[ 0.96252388 0.19298059 -0.19054202 2.84113031] [-0.19168268 0.98112825 0.02539886 -0.35305945] [ 0.19184765 0.01207659 0.98135041 -0.082106 ] [ 0. 0. 0. 1. ]] SLAMing on 68.08538474999999 meters Centerline goodness : 0.928675 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.35, Z:-0.08 [[ 0.96249596 0.19312402 -0.19053777 2.84080862] [-0.1917999 0.9811015 0.02554688 -0.35301046] [ 0.19187061 0.01195636 0.9813474 -0.08170032] [ 0. 0. 0. 1. ]] SLAMing on 68.11538474999999 meters Centerline goodness : 0.929543 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.35, Z:-0.08 [[ 0.96249032 0.19320245 -0.19048675 2.83999585] [-0.19169872 0.98109681 0.02646978 -0.35479423] [ 0.19199997 0.01103916 0.98133284 -0.08011313] [ 0. 0. 0. 1. ]] SLAMing on 68.14538474999999 meters Centerline goodness : 0.931189 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.08 [[ 0.96250696 0.1928743 -0.19073503 2.8406364 ] [-0.1912987 0.98116541 0.02681867 -0.35613873] [ 0.19231525 0.0106742 0.98127514 -0.07974541] [ 0. 0. 0. 1. ]] SLAMing on 68.17538474999999 meters Centerline goodness : 0.930715 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.08 [[ 0.96334466 0.18769643 -0.19166927 2.84200296] [-0.18683121 0.98212873 0.02274336 -0.3574482 ] [ 0.19251275 0.01390011 0.98119602 -0.08057815] [ 0. 0. 0. 1. ]] SLAMing on 68.20538475 meters Centerline goodness : 0.932621 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.08 [[ 0.96336805 0.18699918 -0.19223244 2.84352474] [-0.18604803 0.98226784 0.02315191 -0.3598677 ] [ 0.19315313 0.01346065 0.98107629 -0.08020137] [ 0. 0. 0. 1. ]] SLAMing on 68.23538475 meters Centerline goodness : 0.930666 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.08 [[ 0.96356803 0.18502116 -0.19314197 2.84733876] [-0.18410029 0.98264146 0.02286566 -0.36263756] [ 0.19401994 0.01352488 0.98090435 -0.0808708 ] [ 0. 0. 0. 1. ]] SLAMing on 68.26538475 meters Centerline goodness : 0.929594 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.08 [[ 0.96361594 0.18424193 -0.1936472 2.84960292] [-0.1833431 0.98278658 0.02271226 -0.36391844] [ 0.19449842 0.01361798 0.9808083 -0.08165469] [ 0. 0. 0. 1. ]] SLAMing on 68.29538475 meters Centerline goodness : 0.927536 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96372505 0.1829673 -0.19431158 2.85256629] [-0.18206942 0.98302531 0.02262668 -0.36640599] [ 0.19515314 0.0135723 0.98067887 -0.08239755] [ 0. 0. 0. 1. ]] SLAMing on 68.32538475 meters Centerline goodness : 0.926228 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96370724 0.18278329 -0.19457291 2.85338488] [-0.18184204 0.98306236 0.0228443 -0.36766792] [ 0.19545286 0.01336631 0.98062201 -0.08242395] [ 0. 0. 0. 1. ]] SLAMing on 68.35538475 meters Centerline goodness : 0.927318 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96367853 0.18270007 -0.19479318 2.85397752] [-0.18167813 0.98308303 0.02325556 -0.36973673] [ 0.19574666 0.01297878 0.98056861 -0.08234941] [ 0. 0. 0. 1. ]] SLAMing on 68.38538475 meters Centerline goodness : 0.927780 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96365278 0.18285677 -0.19477353 2.85406204] [-0.18179883 0.98305608 0.0234504 -0.37039529] [ 0.19576137 0.01281155 0.98056787 -0.0824236 ] [ 0. 0. 0. 1. ]] SLAMing on 68.41538474999999 meters Centerline goodness : 0.927758 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96362159 0.18304323 -0.19475268 2.85407439] [-0.18195525 0.98302312 0.02361825 -0.37046804] [ 0.19576955 0.01267722 0.98056798 -0.08234796] [ 0. 0. 0. 1. ]] SLAMing on 68.44538474999999 meters Centerline goodness : 0.928928 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96348554 0.18435367 -0.19418892 2.85223081] [-0.18316029 0.98278412 0.02424219 -0.3706333 ] [ 0.19531493 0.0122107 0.98066456 -0.08217683] [ 0. 0. 0. 1. ]] SLAMing on 68.47538474999999 meters Centerline goodness : 0.931003 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96331812 0.18604641 -0.19340354 2.84943397] [-0.18471289 0.98247277 0.02506807 -0.37088902] [ 0.19467754 0.01157561 0.98079899 -0.08168278] [ 0. 0. 0. 1. ]] SLAMing on 68.50538474999999 meters Centerline goodness : 0.931029 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96322889 0.18686753 -0.19305603 2.84808716] [-0.18546299 0.98232065 0.02548754 -0.37084271] [ 0.19440572 0.01125441 0.98085664 -0.08129566] [ 0. 0. 0. 1. ]] SLAMing on 68.53538474999999 meters Centerline goodness : 0.935836 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96303033 0.18896882 -0.19199834 2.84394048] [-0.18737293 0.9819285 0.0266047 -0.37086744] [ 0.1935561 0.01035416 0.98103457 -0.07999136] [ 0. 0. 0. 1. ]] SLAMing on 68.56538474999999 meters Centerline goodness : 0.938570 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96297728 0.18964492 -0.19159742 2.84255768] [-0.18797506 0.98180191 0.02702558 -0.37068568] [ 0.19323598 0.00999052 0.98110145 -0.07947324] [ 0. 0. 0. 1. ]] SLAMing on 68.59538475 meters Centerline goodness : 0.939896 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96296032 0.1900037 -0.191327 2.84204399] [-0.1882944 0.98173459 0.0272474 -0.37076309] [ 0.19300944 0.00978764 0.98114808 -0.07946108] [ 0. 0. 0. 1. ]] SLAMing on 68.62538475 meters Centerline goodness : 0.940294 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96294688 0.18990116 -0.19149637 2.84269656] [-0.18818098 0.98175484 0.02730128 -0.3712542 ] [ 0.19318703 0.00974629 0.98111354 -0.07962185] [ 0. 0. 0. 1. ]] SLAMing on 68.65538475 meters Centerline goodness : 0.937415 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96295245 0.18966185 -0.19170538 2.84386215] [-0.1879774 0.98179922 0.02710698 -0.37159235] [ 0.19335736 0.00993355 0.98107811 -0.08028538] [ 0. 0. 0. 1. ]] SLAMing on 68.68538475 meters Centerline goodness : 0.936708 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96294174 0.18923194 -0.19218345 2.845404 ] [-0.18759377 0.98187952 0.02685504 -0.37148427] [ 0.19378283 0.01019258 0.9809915 -0.08065855] [ 0. 0. 0. 1. ]] SLAMing on 68.71538475 meters Centerline goodness : 0.931273 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96300654 0.18798449 -0.19308091 2.84899137] [-0.1864809 0.98211183 0.02610029 -0.37216479] [ 0.1945335 0.01087115 0.98083563 -0.0821431 ] [ 0. 0. 0. 1. ]] SLAMing on 68.74538475 meters Centerline goodness : 0.930879 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96301753 0.1874099 -0.19358401 2.85080957] [-0.18594913 0.98221911 0.02585604 -0.3727373 ] [ 0.1949876 0.01109696 0.98074293 -0.08270524] [ 0. 0. 0. 1. ]] SLAMing on 68.77538474999999 meters Centerline goodness : 0.928984 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96305474 0.18673292 -0.19405251 2.85301894] [-0.1852924 0.98234695 0.02571358 -0.37389886] [ 0.19542847 0.01119287 0.98065408 -0.08354524] [ 0. 0. 0. 1. ]] SLAMing on 68.80538474999999 meters Centerline goodness : 0.929403 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96303586 0.18665776 -0.19421845 2.85368083] [-0.18518631 0.98236283 0.02587077 -0.37459682] [ 0.19562197 0.01105211 0.9806171 -0.08363596] [ 0. 0. 0. 1. ]] SLAMing on 68.83538474999999 meters Centerline goodness : 0.928873 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.38, Z:-0.08 [[ 0.96295798 0.18737807 -0.19391076 2.85258077] [-0.18576714 0.98223299 0.02662549 -0.37590428] [ 0.19545458 0.01038302 0.98065779 -0.08310947] [ 0. 0. 0. 1. ]] SLAMing on 68.86538474999999 meters Centerline goodness : 0.931920 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.38, Z:-0.08 [[ 0.96278237 0.18920117 -0.19301042 2.84943604] [-0.18742491 0.98189132 0.02759225 -0.37622334] [ 0.19473574 0.00960963 0.98080867 -0.08245867] [ 0. 0. 0. 1. ]] SLAMing on 68.89538474999999 meters Centerline goodness : 0.933631 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.38, Z:-0.08 [[ 0.9626715 0.19042949 -0.19235434 2.84687058] [-0.18852803 0.98165956 0.02831427 -0.37593537] [ 0.19421835 0.00900685 0.98091697 -0.08144016] [ 0. 0. 0. 1. ]] SLAMing on 68.92538474999999 meters Centerline goodness : 0.936589 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.08 [[ 0.96234998 0.1937816 -0.19060747 2.84032378] [-0.19169287 0.98101099 0.02951742 -0.37539465] [ 0.19270796 0.008132 0.98122246 -0.08035972] [ 0. 0. 0. 1. ]] SLAMing on 68.95538475 meters Centerline goodness : 0.937048 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96223494 0.19456998 -0.19038497 2.83932982] [-0.19245408 0.9808557 0.02972413 -0.3746599 ] [ 0.1925236 0.00803876 0.98125942 -0.08017498] [ 0. 0. 0. 1. ]] SLAMing on 68.98538475 meters Centerline goodness : 0.936113 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96217406 0.19502931 -0.19022261 2.8397922 ] [-0.19299746 0.98076068 0.02933366 -0.37385816] [ 0.19228378 0.0084884 0.98130265 -0.08166626] [ 0. 0. 0. 1. ]] SLAMing on 69.01538475 meters Centerline goodness : 0.935097 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96216174 0.19491543 -0.19040158 2.84077958] [-0.19290172 0.98078237 0.02923799 -0.3742848 ] [ 0.19244145 0.00859712 0.9812708 -0.0823123 ] [ 0. 0. 0. 1. ]] SLAMing on 69.04538475 meters Centerline goodness : 0.934556 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96297778 0.19024647 -0.1909976 2.84169226] [-0.18903935 0.98165897 0.02469384 -0.37426013] [ 0.19219243 0.01232645 0.98127984 -0.0842336 ] [ 0. 0. 0. 1. ]] SLAMing on 69.07538475 meters Centerline goodness : 0.936078 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.08 [[ 0.96298277 0.18984241 -0.19137408 2.84265315] [-0.18858495 0.98174028 0.02493485 -0.37542871] [ 0.19261334 0.01207844 0.98120039 -0.08392381] [ 0. 0. 0. 1. ]] SLAMing on 69.10538475 meters Centerline goodness : 0.934474 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.08 [[ 0.96301835 0.18927491 -0.19175676 2.8438271 ] [-0.18797254 0.98185271 0.02513121 -0.37671881] [ 0.19303361 0.01184319 0.98112067 -0.08364756] [ 0. 0. 0. 1. ]] SLAMing on 69.13538475 meters Centerline goodness : 0.935452 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.08 [[ 0.96299785 0.18924409 -0.19189013 2.8442706 ] [-0.18794529 0.98185826 0.02511834 -0.3765386 ] [ 0.19316241 0.01187594 0.98109492 -0.08367851] [ 0. 0. 0. 1. ]] SLAMing on 69.16538474999999 meters Centerline goodness : 0.934627 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96287498 0.19009883 -0.19166172 2.84371544] [-0.18885991 0.9816887 0.02488443 -0.37495057] [ 0.19288265 0.01223662 0.98114553 -0.08436054] [ 0. 0. 0. 1. ]] SLAMing on 69.19538474999999 meters Centerline goodness : 0.933603 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96282667 0.19036231 -0.1916429 2.84373306] [-0.18913116 0.98163684 0.02486983 -0.37439835] [ 0.19285801 0.01230031 0.98114958 -0.08452119] [ 0. 0. 0. 1. ]] SLAMing on 69.22538474999999 meters Centerline goodness : 0.935276 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96279446 0.19061028 -0.19155821 2.84336839] [-0.18935554 0.98159005 0.02500906 -0.37371408] [ 0.19279861 0.01219403 0.98116258 -0.08409896] [ 0. 0. 0. 1. ]] SLAMing on 69.25538474999999 meters Centerline goodness : 0.935276 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96279446 0.19061028 -0.19155821 2.84336839] [-0.18935554 0.98159005 0.02500906 -0.37371408] [ 0.19279861 0.01219403 0.98116258 -0.08409896] [ 0. 0. 0. 1. ]] SLAMing on 69.28538474999999 meters Centerline goodness : 0.936797 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96276612 0.19061437 -0.19169653 2.84371786] [-0.18938187 0.98158761 0.0249053 -0.37302686] [ 0.19291425 0.01232587 0.9811382 -0.08408524] [ 0. 0. 0. 1. ]] SLAMing on 69.31538474999999 meters Centerline goodness : 0.936720 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96273138 0.19049191 -0.19199252 2.84425132] [-0.18924318 0.98161208 0.02499478 -0.37278997] [ 0.19322348 0.01227002 0.98107805 -0.0836883 ] [ 0. 0. 0. 1. ]] SLAMing on 69.34538475 meters Centerline goodness : 0.938646 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.08 [[ 0.96269386 0.19035563 -0.19231553 2.84485399] [-0.18908387 0.98163961 0.02511885 -0.37299571] [ 0.19356606 0.01218201 0.98101161 -0.08335278] [ 0. 0. 0. 1. ]] SLAMing on 69.37538475 meters Centerline goodness : 0.936015 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96271912 0.18994628 -0.19259365 2.84648789] [-0.18873164 0.98171533 0.0248067 -0.37294418] [ 0.19378408 0.01246663 0.98096499 -0.08423082] [ 0. 0. 0. 1. ]] SLAMing on 69.40538475 meters Centerline goodness : 0.936617 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.08 [[ 0.96273526 0.18973218 -0.19272393 2.84744339] [-0.18856592 0.98175365 0.02454907 -0.37315972] [ 0.19386517 0.01270691 0.98094588 -0.08499354] [ 0. 0. 0. 1. ]] SLAMing on 69.43538475 meters Centerline goodness : 0.933872 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96284846 0.18886699 -0.19300804 2.84933929] [-0.18772779 0.98191935 0.02434474 -0.37390292] [ 0.19411625 0.01279267 0.98089512 -0.08568212] [ 0. 0. 0. 1. ]] SLAMing on 69.46538475 meters Centerline goodness : 0.935523 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96363072 0.18439226 -0.19343045 2.8491723 ] [-0.18406245 0.9827144 0.01983502 -0.37274878] [ 0.19374431 0.01648964 0.98091347 -0.08679888] [ 0. 0. 0. 1. ]] SLAMing on 69.49538475 meters Centerline goodness : 0.935669 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96436287 0.18016064 -0.19376893 2.84829118] [-0.18053225 0.98344073 0.01588857 -0.37258513] [ 0.19342275 0.0196592 0.98091853 -0.08705726] [ 0. 0. 0. 1. ]] SLAMing on 69.52538474999999 meters Centerline goodness : 0.934021 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96434404 0.17970025 -0.19428947 2.85006061] [-0.18014567 0.98351745 0.01552287 -0.37184533] [ 0.19387655 0.02003102 0.98082141 -0.08748648] [ 0. 0. 0. 1. ]] SLAMing on 69.55538474999999 meters Centerline goodness : 0.933256 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96431715 0.1798683 -0.1942674 2.85029315] [-0.18038578 0.98347891 0.01517281 -0.37041313] [ 0.19378699 0.02041168 0.98083126 -0.087971 ] [ 0. 0. 0. 1. ]] SLAMing on 69.58538474999999 meters Centerline goodness : 0.933538 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96351502 0.18485696 -0.19356319 2.84994787] [-0.18464316 0.98261599 0.01930607 -0.36894162] [ 0.19376715 0.01713843 0.98089784 -0.08713018] [ 0. 0. 0. 1. ]] SLAMing on 69.61538474999999 meters Centerline goodness : 0.928227 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96348565 0.18531431 -0.19327186 2.84958681] [-0.18518673 0.98252181 0.01888839 -0.36683586] [ 0.19339411 0.01759269 0.98096341 -0.087784 ] [ 0. 0. 0. 1. ]] SLAMing on 69.64538474999999 meters Centerline goodness : 0.930061 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.37, Z:-0.09 [[ 0.96342571 0.18589984 -0.19300818 2.8489561 ] [-0.18581016 0.98240713 0.01873 -0.3650346 ] [ 0.19309451 0.01781792 0.98101836 -0.08799972] [ 0. 0. 0. 1. ]] SLAMing on 69.67538474999999 meters Centerline goodness : 0.930077 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96330768 0.18710324 -0.19243362 2.84707721] [-0.18703449 0.98217555 0.0186894 -0.36192243] [ 0.19250044 0.01798809 0.981132 -0.08770049] [ 0. 0. 0. 1. ]] SLAMing on 69.70538475 meters Centerline goodness : 0.928205 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96326315 0.18748696 -0.19228299 2.84666983] [-0.18750307 0.9820939 0.01828037 -0.35892172] [ 0.19226728 0.01844484 0.98116924 -0.08765732] [ 0. 0. 0. 1. ]] SLAMing on 69.73538475 meters Centerline goodness : 0.927607 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96325429 0.18756914 -0.19224719 2.84661914] [-0.18763729 0.98207309 0.01801941 -0.35779035] [ 0.19218068 0.01871547 0.98118108 -0.08777627] [ 0. 0. 0. 1. ]] SLAMing on 69.76538475 meters Centerline goodness : 0.926482 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96328039 0.18721256 -0.19246388 2.84813997] [-0.18744094 0.98212549 0.01718791 -0.35582996] [ 0.19224147 0.01951883 0.98115352 -0.08894346] [ 0. 0. 0. 1. ]] SLAMing on 69.79538475 meters Centerline goodness : 0.926099 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96330578 0.18683992 -0.19269877 2.84982244] [-0.18721071 0.98218205 0.01644878 -0.35432224] [ 0.19233856 0.02023007 0.98112009 -0.09024032] [ 0. 0. 0. 1. ]] SLAMing on 69.82538475 meters Centerline goodness : 0.926791 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96261554 0.19050466 -0.19255987 2.85222029] [-0.19025715 0.98153154 0.01995142 -0.3539787 ] [ 0.19280442 0.01743034 0.98108238 -0.0906731 ] [ 0. 0. 0. 1. ]] SLAMing on 69.85538475 meters Centerline goodness : 0.928726 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96258721 0.19068639 -0.19252159 2.8524004 ] [-0.19044938 0.98149504 0.01991264 -0.35336602] [ 0.19275605 0.01749797 0.98109068 -0.09087751] [ 0. 0. 0. 1. ]] SLAMing on 69.88538474999999 meters Centerline goodness : 0.926405 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96249451 0.19150834 -0.19216887 2.85081126] [-0.19117731 0.98134264 0.02044134 -0.35337772] [ 0.1924982 0.01706365 0.98114896 -0.0900671 ] [ 0. 0. 0. 1. ]] SLAMing on 69.91538474999999 meters Centerline goodness : 0.927148 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96244244 0.19182149 -0.1921173 2.85039841] [-0.19142585 0.98128672 0.02079726 -0.35371762] [ 0.19251152 0.01676005 0.98115158 -0.08963108] [ 0. 0. 0. 1. ]] SLAMing on 69.94538474999999 meters Centerline goodness : 0.929697 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.35, Z:-0.09 [[ 0.96241408 0.19171854 -0.19236201 2.8505154 ] [-0.19118017 0.9813187 0.02153493 -0.35482224] [ 0.19289708 0.01605028 0.98108772 -0.08821676] [ 0. 0. 0. 1. ]] SLAMing on 69.97538474999999 meters Centerline goodness : 0.931495 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96236694 0.19172065 -0.19259558 2.85070103] [-0.19109133 0.98132531 0.02201689 -0.35580894] [ 0.19322001 0.01561502 0.98103119 -0.08746127] [ 0. 0. 0. 1. ]] SLAMing on 70.00538474999999 meters Centerline goodness : 0.931439 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96244607 0.19088096 -0.19303371 2.85293376] [-0.19029954 0.98148564 0.02172612 -0.35635115] [ 0.19360692 0.015824 0.98095156 -0.08822341] [ 0. 0. 0. 1. ]] SLAMing on 70.03538474999999 meters Centerline goodness : 0.931365 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96247159 0.19032469 -0.1934553 2.85460387] [-0.18976672 0.98159187 0.02158684 -0.35673528] [ 0.19400266 0.01593466 0.98087158 -0.08862508] [ 0. 0. 0. 1. ]] SLAMing on 70.06538474999999 meters Centerline goodness : 0.933256 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96257069 0.18953017 -0.19374204 2.8561789 ] [-0.18895763 0.98174755 0.02160451 -0.35870234] [ 0.19430048 0.01581317 0.98081459 -0.0889569 ] [ 0. 0. 0. 1. ]] SLAMing on 70.09538475 meters Centerline goodness : 0.934593 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96252504 0.18947853 -0.19401915 2.85644141] [-0.18880796 0.98176495 0.0221163 -0.35971406] [ 0.19467176 0.01534487 0.98074841 -0.08812872] [ 0. 0. 0. 1. ]] SLAMing on 70.12538475 meters Centerline goodness : 0.936319 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96251806 0.19003752 -0.19350639 2.85480591] [-0.18922957 0.98166755 0.02282502 -0.36093685] [ 0.19429656 0.01464764 0.98083347 -0.08729994] [ 0. 0. 0. 1. ]] SLAMing on 70.15538475 meters Centerline goodness : 0.937588 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96246108 0.19045067 -0.19338357 2.8540738 ] [-0.1895459 0.98159427 0.02334605 -0.36163175] [ 0.19427048 0.0141854 0.98084543 -0.08662565] [ 0. 0. 0. 1. ]] SLAMing on 70.18538475 meters Centerline goodness : 0.937596 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.96242623 0.19073837 -0.19327346 2.85373943] [-0.18980899 0.98153997 0.023491 -0.36206986] [ 0.19418626 0.01407669 0.98086367 -0.08658802] [ 0. 0. 0. 1. ]] SLAMing on 70.21538475 meters Centerline goodness : 0.938093 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.36, Z:-0.09 [[ 0.9624191 0.19051801 -0.19352614 2.85488697] [-0.18962539 0.98157996 0.02330212 -0.36208055] [ 0.19440086 0.01427106 0.98081835 -0.08714538] [ 0. 0. 0. 1. ]] SLAMing on 70.24538475 meters Centerline goodness : 0.939369 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96247486 0.1897546 -0.19399829 2.85722412] [-0.18896193 0.98172068 0.02275743 -0.36285747] [ 0.19477046 0.01475484 0.98073787 -0.08843022] [ 0. 0. 0. 1. ]] SLAMing on 70.27538474999999 meters Centerline goodness : 0.937366 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96247328 0.18945766 -0.19429611 2.85869512] [-0.18870799 0.98177467 0.02253432 -0.36335222] [ 0.1950243 0.01497655 0.98068406 -0.08924584] [ 0. 0. 0. 1. ]] SLAMing on 70.30538474999999 meters Centerline goodness : 0.936673 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96245846 0.18928546 -0.1945372 2.85965226] [-0.18855345 0.98180636 0.02244711 -0.36385341] [ 0.19524677 0.01507625 0.98063826 -0.08969612] [ 0. 0. 0. 1. ]] SLAMing on 70.33538474999999 meters Centerline goodness : 0.935027 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96240639 0.1892946 -0.19478576 2.86034175] [-0.18855139 0.981805 0.02252381 -0.3645926 ] [ 0.19550527 0.01505007 0.98058716 -0.0899186 ] [ 0. 0. 0. 1. ]] SLAMing on 70.36538474999999 meters Centerline goodness : 0.931560 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96236994 0.18917282 -0.19508392 2.86151741] [-0.18839927 0.98183044 0.02268684 -0.36607163] [ 0.19583107 0.01492053 0.98052413 -0.0902928 ] [ 0. 0. 0. 1. ]] SLAMing on 70.39538474999999 meters Centerline goodness : 0.931687 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96234417 0.18892285 -0.19545295 2.86277676] [-0.1881592 0.98187755 0.0226407 -0.36636644] [ 0.19618821 0.01498813 0.9804517 -0.09059063] [ 0. 0. 0. 1. ]] SLAMing on 70.42538474999999 meters Centerline goodness : 0.930820 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96231708 0.18892977 -0.19557962 2.86324109] [-0.18811046 0.98188019 0.0229292 -0.36763939] [ 0.19636776 0.01472541 0.98041974 -0.0905654 ] [ 0. 0. 0. 1. ]] SLAMing on 70.45538475 meters Centerline goodness : 0.932994 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96229934 0.18878893 -0.19580276 2.86370901] [-0.18791859 0.98191089 0.02318646 -0.36785489] [ 0.19663821 0.01448266 0.98036915 -0.09008771] [ 0. 0. 0. 1. ]] SLAMing on 70.48538475 meters Centerline goodness : 0.932075 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.9630136 0.1846088 -0.19627632 2.86273987] [-0.18444239 0.98265402 0.01928938 -0.36712276] [ 0.19643271 0.01762573 0.98035888 -0.08991882] [ 0. 0. 0. 1. ]] SLAMing on 70.51538475 meters Centerline goodness : 0.932881 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.37, Z:-0.09 [[ 0.96303741 0.18418162 -0.19656063 2.86419554] [-0.18409365 0.98272735 0.01888092 -0.36628039] [ 0.19664302 0.01800253 0.98030986 -0.09057646] [ 0. 0. 0. 1. ]] SLAMing on 70.54538475 meters Centerline goodness : 0.930497 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.96298786 0.18438352 -0.19661408 2.86475483] [-0.18435997 0.98268305 0.01858539 -0.36487254] [ 0.19663616 0.01835027 0.98030479 -0.09117578] [ 0. 0. 0. 1. ]] SLAMing on 70.57538475 meters Centerline goodness : 0.930264 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.36, Z:-0.09 [[ 0.9629304 0.18494347 -0.19636944 2.86401543] [-0.18489596 0.98257943 0.01873874 -0.36431878] [ 0.19641418 0.01826382 0.98035091 -0.09109535] [ 0. 0. 0. 1. ]] SLAMing on 70.60538475 meters Centerline goodness : 0.931166 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.36, Z:-0.09 [[ 0.96309672 0.18323249 -0.19715617 2.8669372 ] [-0.18333052 0.98288808 0.01791477 -0.362001 ] [ 0.19706502 0.01889109 0.9802084 -0.09092665] [ 0. 0. 0. 1. ]] SLAMing on 70.63538474999999 meters Centerline goodness : 0.932149 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.36, Z:-0.09 [[ 0.9630851 0.18320151 -0.19724172 2.86629769] [-0.18323298 0.98290009 0.01825088 -0.36201714] [ 0.19721249 0.01856404 0.98018499 -0.08965312] [ 0. 0. 0. 1. ]] SLAMing on 70.66538474999999 meters Centerline goodness : 0.934709 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.36, Z:-0.09 [[ 0.96317589 0.18181116 -0.19808307 2.86843911] [-0.18192938 0.98315121 0.01775961 -0.36058124] [ 0.19797451 0.0189315 0.98002433 -0.08878908] [ 0. 0. 0. 1. ]] SLAMing on 70.69538474999999 meters Centerline goodness : 0.930694 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.36, Z:-0.09 [[ 0.96324392 0.18045602 -0.19898937 2.87145129] [-0.18077804 0.98338207 0.01670376 -0.35783115] [ 0.19869687 0.01988311 0.97985928 -0.08907279] [ 0. 0. 0. 1. ]] SLAMing on 70.72538474999999 meters Centerline goodness : 0.929024 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.36, Z:-0.09 [[ 0.96323727 0.18016763 -0.19928268 2.87240214] [-0.18059128 0.98342475 0.01620341 -0.3559023 ] [ 0.19889885 0.02038099 0.97980807 -0.08923083] [ 0. 0. 0. 1. ]] SLAMing on 70.75538474999999 meters Centerline goodness : 0.929144 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.09 [[ 0.96323016 0.18000364 -0.19946513 2.87340932] [-0.18055478 0.98344156 0.01557789 -0.35327013] [ 0.19896638 0.02100929 0.97978109 -0.08973125] [ 0. 0. 0. 1. ]] SLAMing on 70.78538474999999 meters Centerline goodness : 0.925519 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.35, Z:-0.09 [[ 0.96249168 0.18335992 -0.19997228 2.87688009] [-0.18335917 0.98286835 0.0186875 -0.3505671 ] [ 0.19997297 0.01868019 0.97962333 -0.08951072] [ 0. 0. 0. 1. ]] SLAMing on 70.81538474999999 meters Centerline goodness : 0.925137 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.35, Z:-0.09 [[ 0.96244689 0.18320255 -0.20033176 2.87813602] [-0.18333283 0.98288491 0.01806456 -0.34809968] [ 0.20021254 0.01934121 0.97956156 -0.08998463] [ 0. 0. 0. 1. ]] SLAMing on 70.84538475 meters Centerline goodness : 0.923149 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.35, Z:-0.09 [[ 0.96167152 0.1870796 -0.20047224 2.87991494] [-0.18656269 0.98220468 0.02164105 -0.34553652] [ 0.20095337 0.01658906 0.97946033 -0.08880197] [ 0. 0. 0. 1. ]] SLAMing on 70.87538475 meters Centerline goodness : 0.923690 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.34, Z:-0.09 [[ 0.96147703 0.18810276 -0.20044767 2.87874445] [-0.18757674 0.98200823 0.02178991 -0.34151493] [ 0.20094001 0.01664882 0.97946206 -0.08748115] [ 0. 0. 0. 1. ]] SLAMing on 70.90538475 meters Centerline goodness : 0.922491 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.34, Z:-0.09 [[ 0.96137603 0.18861468 -0.20045108 2.87770464] [-0.18805878 0.98191159 0.02198907 -0.33964849] [ 0.2009727 0.01655682 0.97945691 -0.08628536] [ 0. 0. 0. 1. ]] SLAMing on 70.93538475 meters Centerline goodness : 0.925760 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.34, Z:-0.09 [[ 0.96130017 0.1893446 -0.20012648 2.87633431] [-0.18878925 0.98177038 0.02203494 -0.3358186 ] [ 0.20065044 0.01659954 0.97952226 -0.08519818] [ 0. 0. 0. 1. ]] SLAMing on 70.96538475 meters Centerline goodness : 0.927372 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.33, Z:-0.09 [[ 0.96129975 0.18914302 -0.200319 2.87691532] [-0.18866396 0.98180285 0.02165814 -0.33379325] [ 0.20077025 0.01697301 0.97949131 -0.08510309] [ 0. 0. 0. 1. ]] SLAMing on 70.99538475 meters Centerline goodness : 0.928641 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.33, Z:-0.08 [[ 0.96130121 0.18882003 -0.20061651 2.87778322] [-0.18840717 0.98185939 0.02132765 -0.33081741] [ 0.20100429 0.0172953 0.97943767 -0.08457365] [ 0. 0. 0. 1. ]] SLAMing on 71.02538474999999 meters Centerline goodness : 0.927789 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.33, Z:-0.08 [[ 0.96128472 0.1886517 -0.20085373 2.8781474 ] [-0.18826638 0.98188923 0.02119695 -0.3297975 ] [ 0.20121496 0.0174377 0.97939189 -0.08415861] [ 0. 0. 0. 1. ]] SLAMing on 71.05538474999999 meters Centerline goodness : 0.927774 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.33, Z:-0.08 [[ 0.96132059 0.18804095 -0.20125435 2.87934696] [-0.18776589 0.98199708 0.02063284 -0.32749009] [ 0.20151101 0.01795393 0.97932169 -0.08395942] [ 0. 0. 0. 1. ]] SLAMing on 71.08538474999999 meters Centerline goodness : 0.930974 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.33, Z:-0.08 [[ 0.96137165 0.18735878 -0.20164631 2.88098158] [-0.18723848 0.98211399 0.01984622 -0.32532471] [ 0.20175802 0.01867635 0.97925732 -0.0845011 ] [ 0. 0. 0. 1. ]] SLAMing on 71.11538474999999 meters Centerline goodness : 0.932055 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.32, Z:-0.09 [[ 0.96144602 0.18625544 -0.2023128 2.88357 ] [-0.18636935 0.98230254 0.0186598 -0.32170497] [ 0.20220787 0.01976451 0.97914317 -0.08508042] [ 0. 0. 0. 1. ]] SLAMing on 71.14538474999999 meters Centerline goodness : 0.932167 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.32, Z:-0.09 [[ 0.96147668 0.18572518 -0.20265428 2.8846951 ] [-0.18594739 0.98239271 0.01811452 -0.32042482] [ 0.20245041 0.02026635 0.97908279 -0.0852954 ] [ 0. 0. 0. 1. ]] SLAMing on 71.17538474999999 meters Centerline goodness : 0.932167 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.32, Z:-0.09 [[ 0.96147668 0.18572518 -0.20265428 2.8846951 ] [-0.18594739 0.98239271 0.01811452 -0.32042482] [ 0.20245041 0.02026635 0.97908279 -0.0852954 ] [ 0. 0. 0. 1. ]] SLAMing on 71.20538475 meters Centerline goodness : 0.933306 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.32, Z:-0.08 [[ 0.96151396 0.18485831 -0.20326904 2.88608498] [-0.1851897 0.9825459 0.01755943 -0.31811031] [ 0.20296717 0.0207597 0.97896546 -0.08455249] [ 0. 0. 0. 1. ]] SLAMing on 71.23538475 meters Centerline goodness : 0.932410 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.32, Z:-0.08 [[ 0.96155162 0.18427933 -0.20361632 2.88748088] [-0.18472652 0.98264332 0.01697685 -0.31655045] [ 0.2032107 0.02128922 0.97890356 -0.08490101] [ 0. 0. 0. 1. ]] SLAMing on 71.26538475 meters Centerline goodness : 0.932119 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.31, Z:-0.09 [[ 0.96162456 0.18301474 -0.20441089 2.89091306] [-0.18372474 0.98285288 0.01566622 -0.31247693] [ 0.20377298 0.02249032 0.97875981 -0.08590772] [ 0. 0. 0. 1. ]] SLAMing on 71.29538475 meters Centerline goodness : 0.930548 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.31, Z:-0.09 [[ 0.96163445 0.18233685 -0.20496943 2.89295565] [-0.18319869 0.98296254 0.01492961 -0.30982597] [ 0.20419949 0.0231933 0.97865451 -0.08626825] [ 0. 0. 0. 1. ]] SLAMing on 71.32538475 meters Centerline goodness : 0.931966 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.31, Z:-0.09 [[ 0.96159193 0.18211086 -0.2053694 2.89382583] [-0.18304003 0.9829966 0.01462996 -0.30847858] [ 0.2045417 0.02352277 0.97857518 -0.08612677] [ 0. 0. 0. 1. ]] SLAMing on 71.35538475 meters Centerline goodness : 0.931998 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.31, Z:-0.09 [[ 0.96146998 0.18254915 -0.20555117 2.89370045] [-0.1834932 0.98291215 0.01462692 -0.30633567] [ 0.20470888 0.0236539 0.97853706 -0.08548484] [ 0. 0. 0. 1. ]] SLAMing on 71.38538474999999 meters Centerline goodness : 0.931309 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.31, Z:-0.09 [[ 0.96140155 0.18278402 -0.20566248 2.89392948] [-0.1837536 0.98286475 0.01454312 -0.30533271] [ 0.20479665 0.02380944 0.97851492 -0.08551572] [ 0. 0. 0. 1. ]] SLAMing on 71.41538474999999 meters Centerline goodness : 0.931182 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.96060996 0.18698773 -0.20558232 2.8950408 ] [-0.18720566 0.98214522 0.01856909 -0.30435468] [ 0.20538388 0.02064852 0.97846364 -0.08434879] [ 0. 0. 0. 1. ]] SLAMing on 71.44538474999999 meters Centerline goodness : 0.931752 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.30, Z:-0.08 [[ 0.9605246 0.18751894 -0.2054973 2.89426193] [-0.18771422 0.98204518 0.01872503 -0.30298865] [ 0.20531893 0.02058891 0.97847853 -0.08370821] [ 0. 0. 0. 1. ]] SLAMing on 71.47538474999999 meters Centerline goodness : 0.933354 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.30, Z:-0.08 [[ 0.96031616 0.18891424 -0.20519327 2.89231907] [-0.18905626 0.98178055 0.01909686 -0.30019857] [ 0.20506243 0.02045405 0.97853515 -0.08253086] [ 0. 0. 0. 1. ]] SLAMing on 71.50538474999999 meters Centerline goodness : 0.932912 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.30, Z:-0.08 [[ 0.96021361 0.18939147 -0.20523326 2.89199623] [-0.18955943 0.98168486 0.01902807 -0.29832311] [ 0.20507814 0.02063289 0.9785281 -0.08217657] [ 0. 0. 0. 1. ]] SLAMing on 71.53538474999999 meters Centerline goodness : 0.933337 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.30, Z:-0.08 [[ 0.9594207 0.19369894 -0.20492108 2.89312297] [-0.19323161 0.98089545 0.02248669 -0.29562296] [ 0.2053618 0.01802303 0.97852016 -0.08177078] [ 0. 0. 0. 1. ]] SLAMing on 71.56538474999999 meters Centerline goodness : 0.934701 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.29, Z:-0.08 [[ 0.95935637 0.1938194 -0.20510824 2.89390524] [-0.19347287 0.98086025 0.02194115 -0.29328 ] [ 0.20543514 0.0186335 0.97849333 -0.08226997] [ 0. 0. 0. 1. ]] SLAMing on 71.59538475 meters Centerline goodness : 0.930526 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.29, Z:-0.08 [[ 0.95924499 0.19396948 -0.20548697 2.89488517] [-0.19375574 0.98081722 0.0213609 -0.28992425] [ 0.20568852 0.01932394 0.97842671 -0.08243183] [ 0. 0. 0. 1. ]] SLAMing on 71.62538475 meters Centerline goodness : 0.930898 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95925274 0.19371277 -0.20569285 2.89551435] [-0.19354924 0.98086333 0.02111455 -0.28903164] [ 0.20584673 0.0195575 0.97838879 -0.08237867] [ 0. 0. 0. 1. ]] SLAMing on 71.65538475 meters Centerline goodness : 0.930614 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.959306 0.19287618 -0.2062299 2.8965595 ] [-0.19270944 0.98102915 0.02109214 -0.28872748] [ 0.20638572 0.01950864 0.97827621 -0.08141451] [ 0. 0. 0. 1. ]] SLAMing on 71.68538475 meters Centerline goodness : 0.929249 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95935887 0.19228179 -0.2065388 2.89766049] [-0.19214848 0.98114329 0.0208999 -0.28858447] [ 0.20666283 0.01963561 0.97821517 -0.08141839] [ 0. 0. 0. 1. ]] SLAMing on 71.71538475 meters Centerline goodness : 0.929870 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95949477 0.19089827 -0.20718986 2.90021172] [-0.19089964 0.98140214 0.02017842 -0.28771392] [ 0.20718859 0.02019138 0.97809263 -0.08186297] [ 0. 0. 0. 1. ]] SLAMing on 71.74538475 meters Centerline goodness : 0.929789 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.9594851 0.19056572 -0.20754046 2.90099545] [-0.19057256 0.98146625 0.0201517 -0.28757179] [ 0.20753418 0.02021626 0.97801885 -0.08157628] [ 0. 0. 0. 1. ]] SLAMing on 71.77538474999999 meters Centerline goodness : 0.933307 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95945789 0.19039686 -0.20782106 2.9016497 ] [-0.19038665 0.98150048 0.02024162 -0.28805274] [ 0.20783041 0.02014538 0.9779574 -0.08134206] [ 0. 0. 0. 1. ]] SLAMing on 71.80538474999999 meters Centerline goodness : 0.932051 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95944243 0.19037067 -0.20791639 2.90220788] [-0.19041264 0.98150034 0.02000285 -0.28737903] [ 0.20787796 0.02039833 0.97794205 -0.08168575] [ 0. 0. 0. 1. ]] SLAMing on 71.83538474999999 meters Centerline goodness : 0.931299 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95947622 0.19010354 -0.20800489 2.90364081] [-0.19027146 0.98154001 0.01939033 -0.28608129] [ 0.20785129 0.02097284 0.97793557 -0.08295591] [ 0. 0. 0. 1. ]] SLAMing on 71.86538474999999 meters Centerline goodness : 0.934198 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95944458 0.19071348 -0.20759205 2.90226143] [-0.19071097 0.98143803 0.02021683 -0.28825824] [ 0.20759436 0.02019316 0.97800655 -0.08238005] [ 0. 0. 0. 1. ]] SLAMing on 71.89538474999999 meters Centerline goodness : 0.932454 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95937234 0.19108192 -0.20758712 2.90179236] [-0.1909774 0.98137537 0.0207366 -0.28931342] [ 0.20768328 0.01975033 0.97799672 -0.0818938 ] [ 0. 0. 0. 1. ]] SLAMing on 71.92538474999999 meters Centerline goodness : 0.935822 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95933477 0.19144199 -0.20742894 2.90144988] [-0.19127456 0.98131069 0.02105652 -0.28956773] [ 0.20758333 0.01947562 0.97802345 -0.08184383] [ 0. 0. 0. 1. ]] SLAMing on 71.95538475 meters Centerline goodness : 0.937897 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95930741 0.19224456 -0.2068123 2.89996038] [-0.19196001 0.9811642 0.0216371 -0.28961167] [ 0.20707644 0.01894307 0.97814135 -0.08154851] [ 0. 0. 0. 1. ]] SLAMing on 71.98538475 meters Centerline goodness : 0.938886 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95926147 0.19249087 -0.20679629 2.89960287] [-0.19208495 0.98112637 0.02223528 -0.29113965] [ 0.20717338 0.01839301 0.97813132 -0.08107438] [ 0. 0. 0. 1. ]] SLAMing on 72.01538475 meters Centerline goodness : 0.937100 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95928782 0.19216631 -0.2069758 2.90037824] [-0.19167948 0.98119738 0.02259825 -0.29293499] [ 0.20742673 0.01799478 0.97808504 -0.08101014] [ 0. 0. 0. 1. ]] SLAMing on 72.04538475 meters Centerline goodness : 0.936454 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95931902 0.1919512 -0.20703081 2.90096441] [-0.19147359 0.981239 0.0225365 -0.2929778 ] [ 0.20747261 0.01802124 0.97807482 -0.08129014] [ 0. 0. 0. 1. ]] SLAMing on 72.07538475 meters Centerline goodness : 0.936522 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95940212 0.19156011 -0.20700794 2.90123625] [-0.19103981 0.98131992 0.0226936 -0.29393858] [ 0.2074882 0.01777447 0.97807603 -0.08116551] [ 0. 0. 0. 1. ]] SLAMing on 72.10538475 meters Centerline goodness : 0.936734 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.29, Z:-0.08 [[ 0.95940089 0.19143556 -0.20712885 2.90153198] [-0.1908941 0.98134603 0.02279042 -0.2944697 ] [ 0.20762797 0.01767453 0.97804818 -0.08107128] [ 0. 0. 0. 1. ]] SLAMing on 72.13538474999999 meters Centerline goodness : 0.937278 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95948487 0.19072248 -0.20739751 2.9026507 ] [-0.19020188 0.98148394 0.0226388 -0.29516841] [ 0.20787506 0.01772581 0.97799476 -0.08122238] [ 0. 0. 0. 1. ]] SLAMing on 72.16538474999999 meters Centerline goodness : 0.938175 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95949606 0.19045483 -0.20759158 2.9033746 ] [-0.18991889 0.98153735 0.02269887 -0.29566847] [ 0.208082 0.01764609 0.9779522 -0.08124012] [ 0. 0. 0. 1. ]] SLAMing on 72.19538474999999 meters Centerline goodness : 0.933815 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95957442 0.1892726 -0.20830943 2.90601434] [-0.18880531 0.98176104 0.02231163 -0.29631431] [ 0.20873306 0.01792026 0.97780845 -0.08176009] [ 0. 0. 0. 1. ]] SLAMing on 72.22538474999999 meters Centerline goodness : 0.933272 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95962128 0.18875147 -0.20856623 2.90722857] [-0.18831015 0.98185966 0.02215615 -0.29684186] [ 0.20896478 0.01801362 0.97775725 -0.08219263] [ 0. 0. 0. 1. ]] SLAMing on 72.25538474999999 meters Centerline goodness : 0.932493 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95969705 0.18824981 -0.208671 2.90807732] [-0.18775205 0.98196157 0.02237488 -0.29853952] [ 0.20911897 0.0177053 0.97772991 -0.08229768] [ 0. 0. 0. 1. ]] SLAMing on 72.28538474999999 meters Centerline goodness : 0.934272 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.9603566 0.18491743 -0.20861627 2.9055546 ] [-0.18505227 0.98254409 0.01904628 -0.29923272] [ 0.20849667 0.0203137 0.97781209 -0.08218457] [ 0. 0. 0. 1. ]] SLAMing on 72.31538474999999 meters Centerline goodness : 0.936965 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.96031606 0.18525926 -0.20849956 2.90496289] [-0.1853006 0.98248819 0.01951033 -0.30029619] [ 0.20846282 0.01989901 0.97782784 -0.08186301] [ 0. 0. 0. 1. ]] SLAMing on 72.34538475 meters Centerline goodness : 0.933970 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.96029627 0.18562335 -0.20826677 2.90464945] [-0.18559963 0.98242529 0.01983246 -0.30088635] [ 0.20828791 0.0196092 0.97787097 -0.08201108] [ 0. 0. 0. 1. ]] SLAMing on 72.37538475 meters Centerline goodness : 0.932836 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.9602298 0.18592795 -0.20830154 2.90452962] [-0.18585712 0.98237138 0.02008985 -0.30114411] [ 0.20836474 0.01942345 0.97785831 -0.08180285] [ 0. 0. 0. 1. ]] SLAMing on 72.40538475 meters Centerline goodness : 0.931767 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.96009452 0.18709443 -0.20788022 2.90266811] [-0.18690533 0.98215915 0.02073174 -0.30200653] [ 0.20805026 0.01894949 0.97793456 -0.08131186] [ 0. 0. 0. 1. ]] SLAMing on 72.43538475 meters Centerline goodness : 0.930855 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.9600413 0.18737294 -0.20787516 2.90273886] [-0.18719119 0.98210481 0.02072679 -0.3017752 ] [ 0.20803884 0.01901382 0.97793574 -0.08154789] [ 0. 0. 0. 1. ]] SLAMing on 72.46538475 meters Centerline goodness : 0.928977 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.96002016 0.18747154 -0.20788391 2.90335056] [-0.18735547 0.98207971 0.02042956 -0.30077646] [ 0.20798853 0.0193354 0.97794014 -0.08227264] [ 0. 0. 0. 1. ]] SLAMing on 72.49538475 meters Centerline goodness : 0.928821 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95931171 0.19122091 -0.20773929 2.90581466] [-0.19038451 0.98141117 0.0242046 -0.30133801] [ 0.20850608 0.01633059 0.97788472 -0.08267752] [ 0. 0. 0. 1. ]] SLAMing on 72.52538474999999 meters Centerline goodness : 0.924650 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95922063 0.191396 -0.20799846 2.90643362] [-0.19057856 0.98137471 0.02415551 -0.30139156] [ 0.20874769 0.01646959 0.97783084 -0.08291956] [ 0. 0. 0. 1. ]] SLAMing on 72.55538474999999 meters Centerline goodness : 0.925356 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95918619 0.19134289 -0.20820601 2.9071053 ] [-0.19053304 0.98138415 0.02413104 -0.3015231 ] [ 0.20894739 0.01652397 0.97778727 -0.08312829] [ 0. 0. 0. 1. ]] SLAMing on 72.58538474999999 meters Centerline goodness : 0.921694 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95913595 0.19189819 -0.20792622 2.90630727] [-0.19099439 0.98128261 0.02460861 -0.30169276] [ 0.20875673 0.01610974 0.97783491 -0.08278049] [ 0. 0. 0. 1. ]] SLAMing on 72.61538474999999 meters Centerline goodness : 0.922215 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95906956 0.19236301 -0.20780292 2.90558603] [-0.19137797 0.98119722 0.02502979 -0.3022339 ] [ 0.20871045 0.01576359 0.97785043 -0.08235922] [ 0. 0. 0. 1. ]] SLAMing on 72.64538474999999 meters Centerline goodness : 0.923351 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95899168 0.19329228 -0.20729944 2.9040618 ] [-0.19223463 0.9810194 0.02543211 -0.30278777] [ 0.2082806 0.01546095 0.9779469 -0.08228582] [ 0. 0. 0. 1. ]] SLAMing on 72.67538474999999 meters Centerline goodness : 0.921683 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95896935 0.19348307 -0.20722474 2.90418795] [-0.19244444 0.98098019 0.02535771 -0.3024763 ] [ 0.20818965 0.01556198 0.97796467 -0.08267711] [ 0. 0. 0. 1. ]] SLAMing on 72.70538475 meters Centerline goodness : 0.923075 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95892179 0.19396036 -0.20699851 2.90381367] [-0.19290317 0.98088694 0.02547911 -0.30260194] [ 0.20798407 0.0154982 0.97800942 -0.08298714] [ 0. 0. 0. 1. ]] SLAMing on 72.73538475 meters Centerline goodness : 0.922259 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95886249 0.19425718 -0.20699485 2.90343657] [-0.19312401 0.9808333 0.02586798 -0.30327601] [ 0.20805249 0.01517184 0.97799999 -0.0825538 ] [ 0. 0. 0. 1. ]] SLAMing on 72.76538475 meters Centerline goodness : 0.918591 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.30, Z:-0.08 [[ 0.95882535 0.19431042 -0.20711689 2.90384245] [-0.19313703 0.98082534 0.02607174 -0.30452797] [ 0.20821151 0.0150037 0.97796874 -0.08272611] [ 0. 0. 0. 1. ]] SLAMing on 72.79538475 meters Centerline goodness : 0.917424 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.08 [[ 0.95882154 0.19399483 -0.20743015 2.90525961] [-0.19286684 0.98088443 0.02584788 -0.30472008] [ 0.20847936 0.01522289 0.97790829 -0.0833991 ] [ 0. 0. 0. 1. ]] SLAMing on 72.82538475 meters Centerline goodness : 0.917490 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95884606 0.19341004 -0.20786243 2.90809897] [-0.19241034 0.98099052 0.02521629 -0.30521972] [ 0.20878816 0.01581634 0.97783299 -0.08544565] [ 0. 0. 0. 1. ]] SLAMing on 72.85538475 meters Centerline goodness : 0.915598 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.9588049 0.19318865 -0.20825779 2.90950816] [-0.19220595 0.98103245 0.02514351 -0.30575328] [ 0.20916509 0.01592067 0.97775073 -0.08594434] [ 0. 0. 0. 1. ]] SLAMing on 72.88538474999999 meters Centerline goodness : 0.915033 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95870786 0.19351215 -0.20840413 2.91034746] [-0.19252223 0.98096838 0.02522371 -0.30675605] [ 0.20931895 0.01594026 0.97771749 -0.08678752] [ 0. 0. 0. 1. ]] SLAMing on 72.91538474999999 meters Centerline goodness : 0.916645 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95859298 0.19466358 -0.20785954 2.90852326] [-0.19351755 0.98075127 0.02603673 -0.30806226] [ 0.20892691 0.01526584 0.9778121 -0.08637553] [ 0. 0. 0. 1. ]] SLAMing on 72.94538474999999 meters Centerline goodness : 0.918651 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95850361 0.19542296 -0.20755891 2.90729465] [-0.19414936 0.98060871 0.02669407 -0.30888365] [ 0.20875071 0.01471107 0.97785823 -0.08584626] [ 0. 0. 0. 1. ]] SLAMing on 72.97538474999999 meters Centerline goodness : 0.921806 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95841805 0.19604041 -0.20737167 2.9064584 ] [-0.19464427 0.98049331 0.0273216 -0.30976519] [ 0.20868267 0.0141782 0.97788063 -0.08538006] [ 0. 0. 0. 1. ]] SLAMing on 73.00538474999999 meters Centerline goodness : 0.925292 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.09 [[ 0.95833289 0.19753695 -0.20634249 2.90372776] [-0.19597295 0.9802037 0.0282013 -0.3106133 ] [ 0.20782847 0.01341131 0.97807334 -0.08510479] [ 0. 0. 0. 1. ]] SLAMing on 73.03538474999999 meters Centerline goodness : 0.928316 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95824562 0.19836423 -0.20595381 2.90217793] [-0.19665117 0.98004553 0.02896694 -0.31153502] [ 0.20759012 0.01274361 0.97813289 -0.08439421] [ 0. 0. 0. 1. ]] SLAMing on 73.06538474999999 meters Centerline goodness : 0.928316 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95824562 0.19836423 -0.20595381 2.90217793] [-0.19665117 0.98004553 0.02896694 -0.31153502] [ 0.20759012 0.01274361 0.97813289 -0.08439421] [ 0. 0. 0. 1. ]] SLAMing on 73.09538475 meters Centerline goodness : 0.931399 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95812055 0.19956555 -0.20537428 2.89968633] [-0.19760717 0.97981544 0.03021762 -0.31360203] [ 0.20725928 0.01163131 0.9782169 -0.08301862] [ 0. 0. 0. 1. ]] SLAMing on 73.12538475 meters Centerline goodness : 0.931629 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95811505 0.19966751 -0.20530084 2.89981805] [-0.19769726 0.97979533 0.03028033 -0.31353937] [ 0.20719881 0.01157537 0.97823037 -0.08316128] [ 0. 0. 0. 1. ]] SLAMing on 73.15538475 meters Centerline goodness : 0.931697 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95810253 0.19970297 -0.20532476 2.90072014] [-0.19778253 0.97978521 0.0300503 -0.31281778] [ 0.2071753 0.01181838 0.97823245 -0.08387228] [ 0. 0. 0. 1. ]] SLAMing on 73.18538475 meters Centerline goodness : 0.937096 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95814296 0.19962527 -0.20521165 2.90115593] [-0.19770036 0.9798016 0.03005652 -0.31312915] [ 0.20706674 0.01177197 0.97825599 -0.08426726] [ 0. 0. 0. 1. ]] SLAMing on 73.21538475 meters Centerline goodness : 0.937513 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.08 [[ 0.95816551 0.1992665 -0.20545489 2.90215805] [-0.1973484 0.97987428 0.0300002 -0.31289618] [ 0.20729799 0.01180104 0.97820666 -0.08433481] [ 0. 0. 0. 1. ]] SLAMing on 73.24538475 meters Centerline goodness : 0.936703 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.09 [[ 0.9584 0.19792653 -0.20565634 2.90458641] [-0.19608331 0.98014293 0.0295155 -0.31272058] [ 0.20741451 0.01203812 0.97817908 -0.0852215 ] [ 0. 0. 0. 1. ]] SLAMing on 73.27538474999999 meters Centerline goodness : 0.937989 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95843116 0.19753799 -0.20588456 2.90546676] [-0.19563613 0.98022479 0.02976365 -0.31410152] [ 0.2076926 0.01175204 0.97812355 -0.08513463] [ 0. 0. 0. 1. ]] SLAMing on 73.30538474999999 meters Centerline goodness : 0.938954 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.08 [[ 0.95845556 0.19693066 -0.20635226 2.90663893] [-0.19494924 0.98035138 0.0300993 -0.31574041] [ 0.2082252 0.01137937 0.97801471 -0.08464414] [ 0. 0. 0. 1. ]] SLAMing on 73.33538474999999 meters Centerline goodness : 0.937341 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.08 [[ 0.95870326 0.19497955 -0.2070532 2.90963384] [-0.19304827 0.98073984 0.02969389 -0.31733916] [ 0.20885502 0.01150364 0.97787895 -0.08489725] [ 0. 0. 0. 1. ]] SLAMing on 73.36538474999999 meters Centerline goodness : 0.935805 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.08 [[ 0.95882906 0.1943697 -0.20704409 2.91040908] [-0.19241754 0.98086283 0.02972544 -0.31816422] [ 0.20885957 0.0113373 0.97787992 -0.08485498] [ 0. 0. 0. 1. ]] SLAMing on 73.39538474999999 meters Centerline goodness : 0.935624 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.08 [[ 0.95882503 0.19475108 -0.20670408 2.90969931] [-0.19275979 0.98078937 0.02993108 -0.31826538] [ 0.20856228 0.01114557 0.97794558 -0.08484683] [ 0. 0. 0. 1. ]] SLAMing on 73.42538474999999 meters Centerline goodness : 0.932636 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.08 [[ 0.95871424 0.19614963 -0.20589397 2.90782771] [-0.19412222 0.98051217 0.03020664 -0.31683845] [ 0.20780656 0.01100906 0.97810799 -0.08495592] [ 0. 0. 0. 1. ]] SLAMing on 73.45538475 meters Centerline goodness : 0.931618 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.32, Z:-0.09 [[ 0.95869485 0.19649239 -0.20565729 2.90795828] [-0.19453232 0.98043989 0.02991311 -0.31519811] [ 0.20751231 0.01132945 0.9781668 -0.08566932] [ 0. 0. 0. 1. ]] SLAMing on 73.48538475 meters Centerline goodness : 0.927126 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95801179 0.20123037 -0.20425411 2.90793229] [-0.19862346 0.97950647 0.03340366 -0.31323636] [ 0.20679005 0.00856856 0.97834782 -0.08652287] [ 0. 0. 0. 1. ]] SLAMing on 73.51538475 meters Centerline goodness : 0.925202 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95797315 0.20210495 -0.20357071 2.90664987] [-0.1995129 0.97932592 0.03339682 -0.31146618] [ 0.20611174 0.00862173 0.97849048 -0.08687168] [ 0. 0. 0. 1. ]] SLAMing on 73.54538475 meters Centerline goodness : 0.922202 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.31, Z:-0.09 [[ 0.95786151 0.20438727 -0.20180973 2.9048272 ] [-0.20154996 0.97886212 0.03473572 -0.30902422] [ 0.20464344 0.00740274 0.97880859 -0.08741277] [ 0. 0. 0. 1. ]] SLAMing on 73.57538475 meters Centerline goodness : 0.920790 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95793933 0.20421936 -0.20161023 2.90552765] [-0.20147241 0.97889421 0.03427807 -0.30768662] [ 0.20435533 0.00778259 0.97886584 -0.08833516] [ 0. 0. 0. 1. ]] SLAMing on 73.60538475 meters Centerline goodness : 0.915615 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95817936 0.20362958 -0.20106544 2.90728239] [-0.20102957 0.97901255 0.03348923 -0.30617281] [ 0.20366498 0.00833141 0.97900519 -0.09052942] [ 0. 0. 0. 1. ]] SLAMing on 73.63538474999999 meters Centerline goodness : 0.912891 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95828233 0.20332417 -0.20088371 2.90834926] [-0.20077356 0.97907453 0.03321205 -0.30584268] [ 0.20343293 0.00850562 0.97905194 -0.09166759] [ 0. 0. 0. 1. ]] SLAMing on 73.66538474999999 meters Centerline goodness : 0.912296 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95852396 0.20261204 -0.20044992 2.91017279] [-0.20015583 0.97921944 0.03266397 -0.30572751] [ 0.20290257 0.00881202 0.97915928 -0.09372705] [ 0. 0. 0. 1. ]] SLAMing on 73.69538474999999 meters Centerline goodness : 0.909288 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.09 [[ 0.95858532 0.20238939 -0.20038145 2.91094429] [-0.19995897 0.97926467 0.03251323 -0.30561418] [ 0.20280681 0.00890136 0.97917831 -0.09438974] [ 0. 0. 0. 1. ]] SLAMing on 73.72538474999999 meters Centerline goodness : 0.905344 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.31, Z:-0.10 [[ 0.95817057 0.20449608 -0.20022617 2.91543904] [-0.20157089 0.97884435 0.03511297 -0.30589852] [ 0.20317072 0.00671555 0.9791203 -0.09622823] [ 0. 0. 0. 1. ]] SLAMing on 73.75538474999999 meters Centerline goodness : 0.900496 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95814685 0.20538206 -0.19943127 2.91754963] [-0.20237502 0.97866176 0.03557406 -0.30471405] [ 0.20248203 0.00627473 0.97926588 -0.09861784] [ 0. 0. 0. 1. ]] SLAMing on 73.78538474999999 meters Centerline goodness : 0.900140 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.958167 0.20530869 -0.19940998 2.91860731] [-0.20238591 0.97867454 0.03515815 -0.30378738] [ 0.20237574 0.00667039 0.97928523 -0.09969492] [ 0. 0. 0. 1. ]] SLAMing on 73.81538474999999 meters Centerline goodness : 0.897362 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95821166 0.20548172 -0.19901679 2.9198329 ] [-0.20263075 0.97863615 0.0348146 -0.3028087 ] [ 0.20191879 0.00696716 0.97937749 -0.10157298] [ 0. 0. 0. 1. ]] SLAMing on 73.84538475 meters Centerline goodness : 0.898474 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95823717 0.20568065 -0.1986882 2.91991879] [-0.20283914 0.9785943 0.03477761 -0.30259785] [ 0.20158822 0.00697654 0.97944552 -0.10232379] [ 0. 0. 0. 1. ]] SLAMing on 73.87538475 meters Centerline goodness : 0.917315 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95832641 0.20583872 -0.1980932 2.91946726] [-0.20296917 0.97856264 0.03490967 -0.30311763] [ 0.20103237 0.00675196 0.97956133 -0.10285966] [ 0. 0. 0. 1. ]] SLAMing on 73.90538475 meters Centerline goodness : 0.913890 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95834693 0.20571253 -0.19812499 2.91991538] [-0.20281316 0.97859022 0.03504301 -0.30387179] [ 0.20109197 0.00659899 0.97955014 -0.10305025] [ 0. 0. 0. 1. ]] SLAMing on 73.93538475 meters Centerline goodness : 0.916231 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95919257 0.20173145 -0.19812632 2.91881157] [-0.19952883 0.97939408 0.03123269 -0.30436114] [ 0.20034436 0.00957374 0.97967876 -0.10393837] [ 0. 0. 0. 1. ]] SLAMing on 73.96538475 meters Centerline goodness : 0.917388 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.30, Z:-0.10 [[ 0.95992549 0.19778959 -0.19855055 2.91858155] [-0.19629165 0.98016261 0.0274016 -0.30394516] [ 0.20003158 0.01267032 0.97970752 -0.10474531] [ 0. 0. 0. 1. ]] SLAMing on 73.99538475 meters Centerline goodness : 0.897371 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.31, Z:-0.11 [[ 0.96005075 0.19660447 -0.19912119 2.92187467] [-0.19517561 0.98039719 0.02697843 -0.30609041] [ 0.20052193 0.01296294 0.97960345 -0.10650746] [ 0. 0. 0. 1. ]] SLAMing on 74.02538474999999 meters Centerline goodness : 0.896310 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.31, Z:-0.11 [[ 0.96004837 0.19623182 -0.1994999 2.92376103] [-0.19482404 0.98047031 0.026862 -0.30668999] [ 0.20087491 0.01307855 0.97952959 -0.10738713] [ 0. 0. 0. 1. ]] SLAMing on 74.05538474999999 meters Centerline goodness : 0.893965 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.31, Z:-0.11 [[ 0.96004202 0.19576959 -0.19998397 2.92680607] [-0.1944355 0.98055762 0.02648768 -0.30756297] [ 0.20128129 0.0134547 0.97944107 -0.1093122 ] [ 0. 0. 0. 1. ]] SLAMing on 74.08538474999999 meters Centerline goodness : 0.895613 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.31, Z:-0.11 [[ 0.9600433 0.19524469 -0.20049034 2.92905603] [-0.19392897 0.98066087 0.0263784 -0.30857929] [ 0.20176327 0.01355648 0.97934049 -0.11016756] [ 0. 0. 0. 1. ]] SLAMing on 74.11538474999999 meters Centerline goodness : 0.895154 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.31, Z:-0.11 [[ 0.96006917 0.19420622 -0.20137314 2.93301561] [-0.19299909 0.98085953 0.02580552 -0.31074822] [ 0.20253036 0.01408976 0.97917462 -0.11214865] [ 0. 0. 0. 1. ]] SLAMing on 74.14538474999999 meters Centerline goodness : 0.896334 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.31, Z:-0.11 [[ 0.96003987 0.19394801 -0.20176129 2.93506161] [-0.19276484 0.98090862 0.02569046 -0.31148447] [ 0.20289201 0.01422862 0.97909774 -0.11320992] [ 0. 0. 0. 1. ]] SLAMing on 74.17538474999999 meters Centerline goodness : 0.895641 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.31, Z:-0.12 [[ 0.95991392 0.1940192 -0.2022914 2.93982664] [-0.1927372 0.98090026 0.02621151 -0.31261686] [ 0.20351323 0.01382828 0.97897454 -0.11553652] [ 0. 0. 0. 1. ]] SLAMing on 74.20538475 meters Centerline goodness : 0.896751 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.31, Z:-0.12 [[ 0.95988706 0.1935261 -0.20289034 2.94284869] [-0.19223067 0.98099821 0.02626552 -0.31408376] [ 0.20411812 0.01378981 0.97884914 -0.11670365] [ 0. 0. 0. 1. ]] SLAMing on 74.23538475 meters Centerline goodness : 0.893597 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95985067 0.19345752 -0.20312772 2.94359807] [-0.19211 0.98101489 0.02652416 -0.31532799] [ 0.20440262 0.01356363 0.97879293 -0.11670574] [ 0. 0. 0. 1. ]] SLAMing on 74.26538475 meters Centerline goodness : 0.896294 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95975508 0.19378507 -0.20326717 2.94365654] [-0.19227279 0.98096015 0.0273563 -0.31818111] [ 0.20469824 0.0128274 0.97874107 -0.11617433] [ 0. 0. 0. 1. ]] SLAMing on 74.29538475 meters Centerline goodness : 0.896029 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95969189 0.19400269 -0.2033579 2.94386395] [-0.1924076 0.98092178 0.02778082 -0.3190809 ] [ 0.20486775 0.01246658 0.97871027 -0.11591191] [ 0. 0. 0. 1. ]] SLAMing on 74.32538475 meters Centerline goodness : 0.896441 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95959931 0.19474118 -0.20308876 2.94339617] [-0.19299639 0.98078379 0.02855792 -0.32084836] [ 0.20474757 0.01179123 0.97874379 -0.11585629] [ 0. 0. 0. 1. ]] SLAMing on 74.35538475 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95955873 0.19475016 -0.2032718 2.94407282] [-0.19296921 0.98078375 0.02874234 -0.32166031] [ 0.20496325 0.01164524 0.97870039 -0.11596631] [ 0. 0. 0. 1. ]] SLAMing on 74.38538474999999 meters Centerline goodness : 0.898002 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.32, Z:-0.12 [[ 0.95941629 0.19538767 -0.20333235 2.94381069] [-0.1934009 0.98066729 0.02979518 -0.324629 ] [ 0.205223 0.01073868 0.97865633 -0.1153442 ] [ 0. 0. 0. 1. ]] SLAMing on 74.41538474999999 meters Centerline goodness : 0.899994 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.33, Z:-0.12 [[ 0.95938915 0.19518613 -0.20365371 2.94517204] [-0.19315891 0.98070924 0.02998362 -0.32587192] [ 0.20557746 0.01057156 0.97858375 -0.11569161] [ 0. 0. 0. 1. ]] SLAMing on 74.44538474999999 meters Centerline goodness : 0.899779 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.33, Z:-0.12 [[ 0.95942705 0.19391928 -0.20468279 2.94920578] [-0.19185542 0.98096222 0.03007684 -0.32926075] [ 0.20661857 0.01041296 0.97836616 -0.11657475] [ 0. 0. 0. 1. ]] SLAMing on 74.47538474999999 meters Centerline goodness : 0.902829 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.33, Z:-0.12 [[ 0.9593759 0.19343079 -0.20538358 2.95119964] [-0.19129155 0.98106186 0.0304166 -0.3315531 ] [ 0.2073775 0.01010719 0.97820878 -0.11655842] [ 0. 0. 0. 1. ]] SLAMing on 74.50538474999999 meters Centerline goodness : 0.901615 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.34, Z:-0.12 [[ 0.95939076 0.19256105 -0.2061301 2.95389468] [-0.19036207 0.98123564 0.03064159 -0.33502572] [ 0.20816258 0.00984209 0.97804472 -0.11705534] [ 0. 0. 0. 1. ]] SLAMing on 74.53538474999999 meters Centerline goodness : 0.903685 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.34, Z:-0.12 [[ 0.95937561 0.19212811 -0.20660404 2.95565931] [-0.18989272 0.98132197 0.03078879 -0.33642106] [ 0.20866047 0.00969459 0.97794009 -0.11732208] [ 0. 0. 0. 1. ]] SLAMing on 74.56538474999999 meters Centerline goodness : 0.907132 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.34, Z:-0.12 [[ 0.95934667 0.19134004 -0.20746797 2.9589407 ] [-0.18906724 0.98147723 0.03091981 -0.33885377] [ 0.20954128 0.00956257 0.97775304 -0.11803167] [ 0. 0. 0. 1. ]] SLAMing on 74.59538475 meters Centerline goodness : 0.911542 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.34, Z:-0.12 [[ 0.95926041 0.19107537 -0.20810975 2.96144198] [-0.18875107 0.98153046 0.03116078 -0.34070845] [ 0.21022012 0.00938964 0.97760899 -0.11868886] [ 0. 0. 0. 1. ]] SLAMing on 74.62538475 meters Centerline goodness : 0.909767 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.34, Z:-0.12 [[ 0.9591959 0.19094277 -0.20852839 2.9626269 ] [-0.18857394 0.98155777 0.03137229 -0.34164888] [ 0.21067297 0.00923085 0.97751301 -0.1186139 ] [ 0. 0. 0. 1. ]] SLAMing on 74.65538475 meters Centerline goodness : 0.910611 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.34, Z:-0.12 [[ 0.95911645 0.19081686 -0.20900851 2.96302435] [-0.18829563 0.98158814 0.03208544 -0.34463006] [ 0.21128272 0.00858171 0.97738732 -0.11745368] [ 0. 0. 0. 1. ]] SLAMing on 74.68538475 meters Centerline goodness : 0.912539 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.35, Z:-0.12 [[ 0.95904969 0.19088484 -0.20925262 2.96337193] [-0.18822729 0.98157988 0.03273268 -0.34595606] [ 0.21164634 0.00799479 0.97731362 -0.11659618] [ 0. 0. 0. 1. ]] SLAMing on 74.71538475 meters Centerline goodness : 0.915206 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95891725 0.19086207 -0.20987943 2.96539825] [-0.18810461 0.98158722 0.03321438 -0.34743202] [ 0.21235433 0.00762945 0.97716295 -0.11670842] [ 0. 0. 0. 1. ]] SLAMing on 74.74538475 meters Centerline goodness : 0.914893 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95886175 0.19070391 -0.21027641 2.96708264] [-0.18791812 0.98161861 0.03334189 -0.34802388] [ 0.21276967 0.00754448 0.97707326 -0.11702618] [ 0. 0. 0. 1. ]] SLAMing on 74.77538474999999 meters Centerline goodness : 0.917654 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95865906 0.19124266 -0.21071083 2.96836686] [-0.18836399 0.98151603 0.03384207 -0.34911509] [ 0.21328811 0.00724732 0.97696247 -0.1172828 ] [ 0. 0. 0. 1. ]] SLAMing on 74.80538474999999 meters Centerline goodness : 0.919041 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95855703 0.19137504 -0.21105451 2.96933104] [-0.18842763 0.98149201 0.03418285 -0.34964863] [ 0.21369006 0.00700229 0.97687641 -0.11711792] [ 0. 0. 0. 1. ]] SLAMing on 74.83538474999999 meters Centerline goodness : 0.925540 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95836651 0.19220043 -0.21116966 2.96914901] [-0.18902338 0.98133697 0.03532566 -0.35146359] [ 0.2140182 0.00606107 0.97681087 -0.11611158] [ 0. 0. 0. 1. ]] SLAMing on 74.86538474999999 meters Centerline goodness : 0.924458 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95825117 0.1924375 -0.21147696 2.9696539 ] [-0.18916038 0.98129278 0.03581656 -0.35238925] [ 0.21441326 0.0056818 0.97672651 -0.11563695] [ 0. 0. 0. 1. ]] SLAMing on 74.89538474999999 meters Centerline goodness : 0.924243 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95807636 0.19270415 -0.21202546 2.97086203] [-0.18932146 0.98124246 0.03634038 -0.3536493 ] [ 0.21505133 0.00532411 0.97658823 -0.11534344] [ 0. 0. 0. 1. ]] SLAMing on 74.92538474999999 meters Centerline goodness : 0.927517 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.35, Z:-0.12 [[ 0.95798601 0.19285739 -0.2122942 2.97163671] [-0.18943635 0.98121295 0.03653797 -0.35423359] [ 0.21535244 0.00521337 0.97652248 -0.11537949] [ 0. 0. 0. 1. ]] SLAMing on 74.95538475 meters Centerline goodness : 0.930309 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.36, Z:-0.12 [[ 0.95790952 0.19296621 -0.21254035 2.97282637] [-0.18949112 0.98119255 0.03680084 -0.35554118] [ 0.21564433 0.00502264 0.97645906 -0.11579661] [ 0. 0. 0. 1. ]] SLAMing on 74.98538475 meters Centerline goodness : 0.930309 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.36, Z:-0.12 [[ 0.95790952 0.19296621 -0.21254035 2.97282637] [-0.18949112 0.98119255 0.03680084 -0.35554118] [ 0.21564433 0.00502264 0.97645906 -0.11579661] [ 0. 0. 0. 1. ]] SLAMing on 75.01538475 meters Centerline goodness : 0.929629 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.36, Z:-0.12 [[ 0.95785448 0.1926926 -0.21303607 2.97437858] [-0.18916627 0.98124721 0.03701399 -0.35700397] [ 0.21617337 0.00484522 0.97634297 -0.11587187] [ 0. 0. 0. 1. ]] SLAMing on 75.04538475 meters Centerline goodness : 0.931533 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.36, Z:-0.12 [[ 0.95788691 0.19147622 -0.21398488 2.9771779 ] [-0.18788246 0.98148663 0.03720454 -0.36093226] [ 0.21714709 0.00456626 0.97612821 -0.1156808 ] [ 0. 0. 0. 1. ]] SLAMing on 75.07538475 meters Centerline goodness : 0.933558 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.36, Z:-0.12 [[ 0.95790254 0.1908767 -0.21445001 2.97920733] [-0.18715839 0.9816058 0.03770662 -0.36417394] [ 0.21770269 0.00401685 0.97600687 -0.11576922] [ 0. 0. 0. 1. ]] SLAMing on 75.10538475 meters Centerline goodness : 0.932559 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.37, Z:-0.12 [[ 0.95790553 0.19058892 -0.21469246 2.98068683] [-0.18682612 0.98166248 0.03787843 -0.36565457] [ 0.21797474 0.0038262 0.97594691 -0.11623626] [ 0. 0. 0. 1. ]] SLAMing on 75.13538474999999 meters Centerline goodness : 0.931343 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.37, Z:-0.12 [[ 0.95788789 0.18978138 -0.21548507 2.98367938] [-0.18594538 0.98181998 0.03812941 -0.36927964] [ 0.2188038 0.00354475 0.97576244 -0.11672107] [ 0. 0. 0. 1. ]] SLAMing on 75.16538474999999 meters Centerline goodness : 0.934080 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.37, Z:-0.12 [[ 0.95782107 0.18958154 -0.21595747 2.98499653] [-0.18568065 0.98185938 0.03840372 -0.37108798] [ 0.21932051 0.00331523 0.97564723 -0.11672367] [ 0. 0. 0. 1. ]] SLAMing on 75.19538474999999 meters Centerline goodness : 0.935971 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.37, Z:-0.12 [[ 9.57717783e-01 1.89667309e-01 -2.16339917e-01 2.98583191e+00] [-1.85638619e-01 9.81844358e-01 3.89866581e-02 -3.72922782e-01] [ 2.19806621e-01 2.82282766e-03 9.75539379e-01 -1.16227134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22538474999999 meters Centerline goodness : 0.937121 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.37, Z:-0.12 [[ 0.9583009 0.18612558 -0.21683325 2.98501941] [-0.1827327 0.98251147 0.03577682 -0.37487457] [ 0.21970013 0.00533757 0.97555285 -0.11639767] [ 0. 0. 0. 1. ]] SLAMing on 75.25538474999999 meters Centerline goodness : 0.937442 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.38, Z:-0.12 [[ 0.95823902 0.1861081 -0.21712152 2.98570756] [-0.18256286 0.98251802 0.03645744 -0.37705143] [ 0.22011083 0.00470338 0.97546353 -0.11574233] [ 0. 0. 0. 1. ]] SLAMing on 75.28538474999999 meters Centerline goodness : 0.941061 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.38, Z:-0.11 [[ 0.9582495 0.1854491 -0.21763853 2.98713579] [-0.1817693 0.98264526 0.03698948 -0.38023151] [ 0.22072114 0.00411485 0.97532828 -0.11499471] [ 0. 0. 0. 1. ]] SLAMing on 75.31538474999999 meters Centerline goodness : 0.941022 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.38, Z:-0.12 [[ 0.95833932 0.18407478 -0.21840839 2.99113025] [-0.18037485 0.98290412 0.03693791 -0.38232023] [ 0.22147384 0.00399632 0.97515812 -0.11572182] [ 0. 0. 0. 1. ]] SLAMing on 75.34538475 meters Centerline goodness : 0.938912 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.38, Z:-0.12 [[ 0.95833283 0.18333172 -0.21906086 2.99376943] [-0.17966409 0.98304229 0.03672424 -0.3826871 ] [ 0.22207881 0.00416333 0.97501983 -0.11617564] [ 0. 0. 0. 1. ]] SLAMing on 75.37538475 meters Centerline goodness : 0.936989 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.38, Z:-0.12 [[ 0.95825005 0.18267303 -0.21997137 2.99692498] [-0.17905176 0.98316368 0.03646441 -0.38279938] [ 0.22292893 0.00444424 0.97482457 -0.11655814] [ 0. 0. 0. 1. ]] SLAMing on 75.40538475 meters Centerline goodness : 0.936066 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.38, Z:-0.12 [[ 0.9581773 0.18277093 -0.22020685 2.99765695] [-0.1791447 0.98314535 0.03650205 -0.3823864 ] [ 0.22316685 0.00447345 0.97477 -0.11655244] [ 0. 0. 0. 1. ]] SLAMing on 75.43538475 meters Centerline goodness : 0.940223 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.39, Z:-0.11 [[ 9.58284371e-01 1.81561949e-01 -2.20740396e-01 2.99839162e+00] [-1.77221404e-01 9.83378672e-01 3.94836972e-02 -3.85763554e-01] [ 2.24240134e-01 1.28331285e-03 9.74533075e-01 -1.10057829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46538475 meters Centerline goodness : 0.943609 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.39, Z:-0.11 [[ 9.58297854e-01 1.80638878e-01 -2.21438070e-01 3.00022483e+00] [-1.76275769e-01 9.83548756e-01 3.94803506e-02 -3.86092089e-01] [ 2.24926824e-01 1.20023077e-03 9.74374919e-01 -1.09267921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49538475 meters Centerline goodness : 0.941728 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.58394462e-01 1.78928786e-01 -2.22406260e-01 3.00557127e+00] [-1.74709024e-01 9.83860392e-01 3.86715039e-02 -3.84297018e-01] [ 2.25736156e-01 1.79382552e-03 9.74186825e-01 -1.10521446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52538474999999 meters Centerline goodness : 0.939397 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.58381894e-01 1.78382056e-01 -2.22899054e-01 3.00833022e+00] [-1.74211152e-01 9.83959213e-01 3.84023793e-02 -3.82925740e-01] [ 2.26173873e-01 2.02735589e-03 9.74084837e-01 -1.11181578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55538474999999 meters Centerline goodness : 0.940567 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.58277053e-01 1.78584530e-01 -2.23187489e-01 3.00922603e+00] [-1.74428693e-01 9.83922186e-01 3.83635623e-02 -3.81181753e-01] [ 2.26450261e-01 2.16738058e-03 9.74020319e-01 -1.11015145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58538474999999 meters Centerline goodness : 0.940018 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.58157309e-01 1.78784267e-01 -2.23541398e-01 3.00948876e+00] [-1.74553346e-01 9.83886412e-01 3.87125027e-02 -3.81181208e-01] [ 2.26860530e-01 1.92723150e-03 9.73925349e-01 -1.10069343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61538474999999 meters Centerline goodness : 0.941886 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.58003131e-01 1.78921983e-01 -2.24091333e-01 3.00968377e+00] [-1.74678354e-01 9.83861262e-01 3.87877468e-02 -3.80702680e-01] [ 2.27414763e-01 1.98512236e-03 9.73795967e-01 -1.08937319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64538474999999 meters Centerline goodness : 0.941527 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 9.57948222e-01 1.78919799e-01 -2.24327684e-01 3.01064740e+00] [-1.74699175e-01 9.83861366e-01 3.86912310e-02 -3.79860686e-01] [ 2.27629969e-01 2.12566533e-03 9.73745387e-01 -1.09054820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67538474999999 meters Centerline goodness : 0.941290 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.38, Z:-0.11 [[ 0.95875033 0.17306791 -0.22548903 3.01235815] [-0.1696799 0.98489611 0.03447284 -0.37923143] [ 0.22804941 0.00521011 0.97363562 -0.10845947] [ 0. 0. 0. 1. ]] SLAMing on 75.70538475 meters Centerline goodness : 0.940097 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.38, Z:-0.11 [[ 0.95896336 0.16989335 -0.22699236 3.01947206] [-0.16679363 0.98544233 0.03291355 -0.37672057] [ 0.22927967 0.00629799 0.97334021 -0.10943298] [ 0. 0. 0. 1. ]] SLAMing on 75.73538475 meters Centerline goodness : 0.937376 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.37, Z:-0.11 [[ 0.95899262 0.16857892 -0.22784708 3.02433463] [-0.1656612 0.98566298 0.03201329 -0.37448431] [ 0.2299772 0.00704491 0.97317052 -0.11093851] [ 0. 0. 0. 1. ]] SLAMing on 75.76538475 meters Centerline goodness : 0.931742 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.37, Z:-0.11 [[ 0.95835436 0.17097702 -0.22874393 3.03066652] [-0.16746747 0.98526263 0.03481659 -0.37279022] [ 0.23132569 0.00494053 0.97286382 -0.11162469] [ 0. 0. 0. 1. ]] SLAMing on 75.79538475 meters Centerline goodness : 0.933088 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.37, Z:-0.11 [[ 0.95821113 0.1713019 -0.22910059 3.03160984] [-0.16775236 0.98520657 0.03503082 -0.37122315] [ 0.23171225 0.00486524 0.9727722 -0.11119527] [ 0. 0. 0. 1. ]] SLAMing on 75.82538475 meters Centerline goodness : 0.934682 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.37, Z:-0.11 [[ 0.95788069 0.17354066 -0.22879735 3.02832652] [-0.16976574 0.98481804 0.03623573 -0.36878535] [ 0.23161213 0.00413244 0.97279944 -0.10874185] [ 0. 0. 0. 1. ]] SLAMing on 75.85538475 meters Centerline goodness : 0.938489 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.37, Z:-0.11 [[ 0.95778419 0.17383708 -0.22897623 3.0274722 ] [-0.16997481 0.98476699 0.03664062 -0.36802244] [ 0.23185773 0.00382639 0.97274218 -0.10710939] [ 0. 0. 0. 1. ]] SLAMing on 75.88538474999999 meters Centerline goodness : 0.943693 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.37, Z:-0.10 [[ 0.95770387 0.1739383 -0.22923517 3.02690644] [-0.16994396 0.98475095 0.03721032 -0.36652979] [ 0.23221185 0.00332067 0.97265957 -0.10467388] [ 0. 0. 0. 1. ]] SLAMing on 75.91538474999999 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.36, Z:-0.10 [[ 9.57196927e-01 1.77123314e-01 -2.28913467e-01 3.02856185e+00] [-1.72527728e-01 9.84188041e-01 4.01008999e-02 -3.63514013e-01] [ 2.32396701e-01 1.10946230e-03 9.72620451e-01 -1.04299770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94538474999999 meters Centerline goodness : 0.945374 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.36, Z:-0.10 [[ 9.57082141e-01 1.77394766e-01 -2.29183056e-01 3.02969256e+00] [-1.72793661e-01 9.84139083e-01 4.01574009e-02 -3.61040607e-01] [ 2.32671715e-01 1.16744800e-03 9.72554631e-01 -1.04153756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97538474999999 meters Centerline goodness : 0.945033 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.36, Z:-0.10 [[ 9.56875977e-01 1.77994685e-01 -2.29578433e-01 3.02993987e+00] [-1.73399542e-01 9.84030540e-01 4.02056487e-02 -3.58350865e-01] [ 2.33068582e-01 1.33697596e-03 9.72459382e-01 -1.03325532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00538474999999 meters Centerline goodness : 0.943938 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.36, Z:-0.10 [[ 9.56795489e-01 1.77882049e-01 -2.30000800e-01 3.03091570e+00] [-1.73289434e-01 9.84050808e-01 4.01843179e-02 -3.57501748e-01] [ 2.33480542e-01 1.40853441e-03 9.72360454e-01 -1.02906819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03538474999999 meters Centerline goodness : 0.943976 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.36, Z:-0.10 [[ 9.56734724e-01 1.77665416e-01 -2.30420634e-01 3.03214970e+00] [-1.73098761e-01 9.84089707e-01 4.00533196e-02 -3.56641294e-01] [ 2.33870664e-01 1.56512472e-03 9.72266457e-01 -1.02738848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06538474999999 meters Centerline goodness : 0.942744 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.35, Z:-0.10 [[ 9.56715749e-01 1.77015624e-01 -2.30998798e-01 3.03453257e+00] [-1.72552414e-01 9.84205968e-01 3.95509499e-02 -3.54332887e-01] [ 2.34351532e-01 2.02038356e-03 9.72149823e-01 -1.02859936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09538475 meters Centerline goodness : 0.943683 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56694581e-01 1.76690452e-01 -2.31335175e-01 3.03589207e+00] [-1.72235941e-01 9.84264283e-01 3.94791217e-02 -3.53439593e-01] [ 2.34670534e-01 2.07476976e-03 9.72072752e-01 -1.02767988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12538475 meters Centerline goodness : 0.945979 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56689457e-01 1.76137712e-01 -2.31777458e-01 3.03786826e+00] [-1.71708180e-01 9.84363106e-01 3.93138331e-02 -3.52569665e-01] [ 2.35077827e-01 2.18695582e-03 9.71974090e-01 -1.02865203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15538475 meters Centerline goodness : 0.945106 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56641571e-01 1.75708744e-01 -2.32300110e-01 3.03938679e+00] [-1.71257781e-01 9.84439884e-01 3.93559109e-02 -3.52889175e-01] [ 2.35600671e-01 2.13370106e-03 9.71847607e-01 -1.02593795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18538475 meters Centerline goodness : 0.942766 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56600371e-01 1.74905537e-01 -2.33074632e-01 3.04148937e+00] [-1.70438666e-01 9.84582980e-01 3.93321370e-02 -3.54127799e-01] [ 2.36360724e-01 2.09979252e-03 9.71663110e-01 -1.02253412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21538475 meters Centerline goodness : 0.943147 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56576580e-01 1.74591182e-01 -2.33407724e-01 3.04282279e+00] [-1.70124495e-01 9.84638732e-01 3.92966090e-02 -3.54289393e-01] [ 2.36683127e-01 2.11815530e-03 9.71584588e-01 -1.02353877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24538475 meters Centerline goodness : 0.941798 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56456886e-01 1.74908930e-01 -2.33660204e-01 3.04341370e+00] [-1.70346434e-01 9.84582965e-01 3.97300547e-02 -3.54807732e-01] [ 2.37006997e-01 1.80309804e-03 9.71506270e-01 -1.02044143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27538474999999 meters Centerline goodness : 0.941049 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56404401e-01 1.75020559e-01 -2.33791415e-01 3.04404080e+00] [-1.70442121e-01 9.84563182e-01 3.98098620e-02 -3.54595406e-01] [ 2.37149964e-01 1.77357738e-03 9.71471435e-01 -1.02137398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30538474999999 meters Centerline goodness : 0.938429 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56313574e-01 1.75411256e-01 -2.33870133e-01 3.04480790e+00] [-1.70803918e-01 9.84493751e-01 3.99759472e-02 -3.53953411e-01] [ 2.37255915e-01 1.71639400e-03 9.71445667e-01 -1.02420055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33538474999999 meters Centerline goodness : 0.937917 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56257316e-01 1.75747869e-01 -2.33847455e-01 3.04473106e+00] [-1.71092185e-01 9.84433985e-01 4.02143404e-02 -3.53835653e-01] [ 2.37274967e-01 1.55421483e-03 9.71441287e-01 -1.02204554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36538474999999 meters Centerline goodness : 0.939555 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56123865e-01 1.76812260e-01 -2.33590625e-01 3.04294566e+00] [-1.71990642e-01 9.84244133e-01 4.10207890e-02 -3.53147876e-01] [ 2.37163181e-01 9.54446351e-04 9.71469359e-01 -1.00670937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39538474999999 meters Centerline goodness : 0.940965 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.56031583e-01 1.77485589e-01 -2.33457659e-01 3.04220749e+00] [-1.72608714e-01 9.84123086e-01 4.13277658e-02 -3.52100611e-01] [ 2.37086155e-01 7.86176988e-04 9.71488310e-01 -1.00128053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42538474999999 meters Centerline goodness : 0.939706 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.55952135e-01 1.78084911e-01 -2.33326552e-01 3.04168322e+00] [-1.73157939e-01 9.84014922e-01 4.16048158e-02 -3.50869123e-01] [ 2.37005999e-01 6.30132395e-04 9.71507982e-01 -9.96754820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45538475 meters Centerline goodness : 0.939433 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.55867793e-01 1.78506488e-01 -2.33349944e-01 3.04197851e+00] [-1.73579177e-01 9.83938496e-01 4.16570094e-02 -3.48695973e-01] [ 2.37038040e-01 6.86097518e-04 9.71500127e-01 -9.95392562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48538475 meters Centerline goodness : 0.938525 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 9.55863785e-01 1.77987566e-01 -2.33762380e-01 3.04385230e+00] [-1.73125695e-01 9.84032262e-01 4.13279684e-02 -3.47779859e-01] [ 2.37385588e-01 9.66366294e-04 9.71415024e-01 -9.99113268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51538475 meters Centerline goodness : 0.938743 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.35, Z:-0.10 [[ 9.55863661e-01 1.77553722e-01 -2.34092582e-01 3.04517763e+00] [-1.72715808e-01 9.84110528e-01 4.11791041e-02 -3.47768728e-01] [ 2.37684478e-01 1.06988030e-03 9.71341827e-01 -9.99748249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54538475 meters Centerline goodness : 0.938537 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.35, Z:-0.10 [[ 9.55858338e-01 1.77278155e-01 -2.34323054e-01 3.04561815e+00] [-1.72418098e-01 9.84160295e-01 4.12372749e-02 -3.48145071e-01] [ 2.37921914e-01 9.84542427e-04 9.71283786e-01 -9.95225229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57538475 meters Centerline goodness : 0.942643 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.95652161 0.17350077 -0.23444379 3.04387801] [-0.16935941 0.98482749 0.03784445 -0.34822234] [ 0.23745273 0.00350622 0.97139277 -0.09927331] [ 0. 0. 0. 1. ]] SLAMing on 76.60538475 meters Centerline goodness : 0.941312 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.95654356 0.17307734 -0.23466709 3.04439746] [-0.16887541 0.98490291 0.03804407 -0.34952819] [ 0.23770887 0.00323869 0.97133105 -0.09871827] [ 0. 0. 0. 1. ]] SLAMing on 76.63538474999999 meters Centerline goodness : 0.945783 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.9572075 0.16900306 -0.23492927 3.04325437] [-0.16549789 0.98559928 0.03470608 -0.35018174] [ 0.23741156 0.00565938 0.97139267 -0.09842404] [ 0. 0. 0. 1. ]] SLAMing on 76.66538474999999 meters Centerline goodness : 0.949786 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.95739201 0.16773705 -0.23508472 3.04446347] [-0.16412885 0.9858186 0.03497738 -0.3528954 ] [ 0.23761789 0.00509713 0.97134533 -0.09776123] [ 0. 0. 0. 1. ]] SLAMing on 76.69538474999999 meters Centerline goodness : 0.951280 Centerline is valid? [False, True] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.95799623 0.16361399 -0.23552851 3.04418616] [-0.16078425 0.98649297 0.03130551 -0.35269663] [ 0.23746924 0.00787872 0.97136311 -0.09813792] [ 0. 0. 0. 1. ]] SLAMing on 76.72538474999999 meters Centerline goodness : 0.949782 Centerline is valid? [True, False] Translation: X:3.04, Y:-0.35, Z:-0.10 [[ 0.95862265 0.15918223 -0.23601617 3.0446622 ] [-0.15706384 0.98719498 0.02787496 -0.35398056] [ 0.23743118 0.01034804 0.97134924 -0.09857468] [ 0. 0. 0. 1. ]] SLAMing on 76.75538474999999 meters Centerline goodness : 0.950919 Centerline is valid? [False, True] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.9586058 0.15889741 -0.23627637 3.04586411] [-0.15670434 0.98724411 0.02815703 -0.35553642] [ 0.23773654 0.01003404 0.97127785 -0.09860371] [ 0. 0. 0. 1. ]] SLAMing on 76.78538474999999 meters Centerline goodness : 0.948565 Centerline is valid? [True, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95861946 0.15802857 -0.2368031 3.04794399] [-0.15575282 0.98738741 0.02841066 -0.35888633] [ 0.23830609 0.00964774 0.97114218 -0.09857775] [ 0. 0. 0. 1. ]] SLAMing on 76.81538474999999 meters Centerline goodness : 0.947028 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95856704 0.15808712 -0.23697616 3.04876041] [-0.15573394 0.98738085 0.02874033 -0.36019461] [ 0.23852919 0.00935569 0.97109026 -0.0986797 ] [ 0. 0. 0. 1. ]] SLAMing on 76.84538475 meters Centerline goodness : 0.945403 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95863464 0.1573166 -0.23721533 3.05081117] [-0.15499584 0.98750326 0.02852376 -0.36146406] [ 0.23873818 0.00942353 0.97103825 -0.09950825] [ 0. 0. 0. 1. ]] SLAMing on 76.87538475 meters Centerline goodness : 0.945403 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95863464 0.1573166 -0.23721533 3.05081117] [-0.15499584 0.98750326 0.02852376 -0.36146406] [ 0.23873818 0.00942353 0.97103825 -0.09950825] [ 0. 0. 0. 1. ]] SLAMing on 76.90538475 meters Centerline goodness : 0.945240 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95860023 0.15730943 -0.23735909 3.05126247] [-0.15489158 0.987508 0.02892332 -0.36265439] [ 0.23894391 0.00903903 0.9709913 -0.09915115] [ 0. 0. 0. 1. ]] SLAMing on 76.93538475 meters Centerline goodness : 0.947175 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.10 [[ 0.95857836 0.15722377 -0.23750414 3.05173611] [-0.1547143 0.98752496 0.02929051 -0.36394055] [ 0.23914643 0.00866804 0.97094482 -0.09876216] [ 0. 0. 0. 1. ]] SLAMing on 76.96538475 meters Centerline goodness : 0.944281 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95856267 0.15707847 -0.23766355 3.05242429] [-0.15453975 0.98754912 0.02939732 -0.36509919] [ 0.23932212 0.00854929 0.97090259 -0.09882179] [ 0. 0. 0. 1. ]] SLAMing on 76.99538475 meters Centerline goodness : 0.945463 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95852699 0.15727436 -0.23767788 3.052766 ] [-0.1546656 0.98752018 0.02970598 -0.36500354] [ 0.2393837 0.00828661 0.97088968 -0.09862975] [ 0. 0. 0. 1. ]] SLAMing on 77.02538474999999 meters Centerline goodness : 0.945403 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.9584922 0.15794835 -0.23737106 3.05173706] [-0.15521544 0.98741642 0.03028173 -0.36561594] [ 0.23916703 0.00781885 0.97094696 -0.09813308] [ 0. 0. 0. 1. ]] SLAMing on 77.05538474999999 meters Centerline goodness : 0.944095 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95845028 0.15786417 -0.23759622 3.05204038] [-0.15504163 0.9874326 0.03064249 -0.36692938] [ 0.23944761 0.007468 0.97088057 -0.09748641] [ 0. 0. 0. 1. ]] SLAMing on 77.08538474999999 meters Centerline goodness : 0.943614 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95846143 0.15749173 -0.23779833 3.05308012] [-0.15464439 0.98749298 0.03070371 -0.36781153] [ 0.23965976 0.00734585 0.97082915 -0.09746262] [ 0. 0. 0. 1. ]] SLAMing on 77.11538474999999 meters Centerline goodness : 0.944854 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95842462 0.15742869 -0.23798836 3.05379594] [-0.15452958 0.98750447 0.03091152 -0.36836959] [ 0.23988093 0.00714988 0.97077599 -0.09728672] [ 0. 0. 0. 1. ]] SLAMing on 77.14538474999999 meters Centerline goodness : 0.943804 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95842448 0.15758456 -0.23788574 3.05417898] [-0.15462812 0.98748125 0.03115962 -0.36896258] [ 0.23981799 0.00691968 0.97079321 -0.0975394 ] [ 0. 0. 0. 1. ]] SLAMing on 77.17538474999999 meters Centerline goodness : 0.943639 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95842194 0.15754012 -0.2379254 3.05470973] [-0.15451532 0.98749028 0.03143197 -0.36950904] [ 0.23990081 0.00663803 0.97077471 -0.09739795] [ 0. 0. 0. 1. ]] SLAMing on 77.20538475 meters Centerline goodness : 0.947896 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95853021 0.15773597 -0.23735878 3.05284213] [-0.15440695 0.98746693 0.03267346 -0.37238944] [ 0.23953773 0.00533134 0.97087242 -0.09562893] [ 0. 0. 0. 1. ]] SLAMing on 77.23538475 meters Centerline goodness : 0.950256 Centerline is valid? [False, True] Translation: X:3.05, Y:-0.37, Z:-0.10 [[ 0.95909394 0.15397276 -0.23755253 3.05156839] [-0.15135479 0.98804414 0.02933426 -0.3723153 ] [ 0.23922907 0.0078204 0.97093166 -0.09541361] [ 0. 0. 0. 1. ]] SLAMing on 77.26538475 meters Centerline goodness : 0.955081 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.38, Z:-0.08 [[ 0.95983054 0.14998563 -0.2371279 3.07644622] [-0.14647805 0.98868165 0.03244635 -0.37926955] [ 0.23931049 0.00359104 0.97093645 -0.08425634] [ 0. 0. 0. 1. ]] SLAMing on 77.29538475 meters Centerline goodness : 0.956891 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.38, Z:-0.08 [[ 9.60332579e-01 1.46728767e-01 -2.37132887e-01 3.10380603e+00] [-1.43132354e-01 9.89172752e-01 3.24098273e-02 -3.82814095e-01] [ 2.39320845e-01 2.81717529e-03 9.70936454e-01 -7.62104391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32538475 meters Centerline goodness : 0.957251 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.39, Z:-0.07 [[ 9.61125140e-01 1.41431032e-01 -2.37140736e-01 3.13088850e+00] [-1.37689834e-01 9.89946887e-01 3.23523030e-02 -3.87503466e-01] [ 2.39332352e-01 1.55725666e-03 9.70936455e-01 -6.79844203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters Centerline goodness : 0.956446 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.39, Z:-0.06 [[ 9.61262141e-01 1.40492904e-01 -2.37143080e-01 3.15828954e+00] [-1.36727819e-01 9.90080777e-01 3.23351096e-02 -3.92757662e-01] [ 2.39333658e-01 1.34153946e-03 9.70936455e-01 -6.16362812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38538474999999 meters Centerline goodness : 0.952714 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.40, Z:-0.06 [[ 9.61300084e-01 1.40229072e-01 -2.37145432e-01 3.18553846e+00] [-1.36460334e-01 9.90118242e-01 3.23178535e-02 -3.97649146e-01] [ 2.39333921e-01 1.29378953e-03 9.70936455e-01 -5.79018837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters Centerline goodness : 0.951423 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.40, Z:-0.05 [[ 9.61034483e-01 1.42033035e-01 -2.37148350e-01 3.21360529e+00] [-1.38323677e-01 9.89860344e-01 3.22964283e-02 -4.01382841e-01] [ 2.39330907e-01 1.76525056e-03 9.70936456e-01 -5.21470225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44538474999999 meters Centerline goodness : 0.951199 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.41, Z:-0.05 [[ 9.61127455e-01 1.41388427e-01 -2.37156756e-01 3.24098574e+00] [-1.37674997e-01 9.89952790e-01 3.22345813e-02 -4.05695603e-01] [ 2.39331589e-01 1.66901459e-03 9.70936458e-01 -4.57442149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters Centerline goodness : 0.950602 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.61031235e-01 1.42037033e-01 -2.37159116e-01 3.26913576e+00] [-1.38347342e-01 9.89859618e-01 3.22172143e-02 -4.09295019e-01] [ 2.39330269e-01 1.84858410e-03 9.70936458e-01 -4.02923759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50538474999999 meters Centerline goodness : 0.948458 Centerline is valid? [True, False] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.60989180e-01 1.41823272e-01 -2.37457273e-01 3.27054615e+00] [-1.38167244e-01 9.89889969e-01 3.20571662e-02 -4.08884868e-01] [ 2.39603025e-01 2.00222717e-03 9.70868880e-01 -4.06998939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53538474999999 meters Centerline goodness : 0.948040 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.60922663e-01 1.41866353e-01 -2.37700598e-01 3.27150731e+00] [-1.38193724e-01 9.89883855e-01 3.21317318e-02 -4.08522004e-01] [ 2.39854396e-01 1.97262150e-03 9.70806869e-01 -4.07308263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56538474999999 meters Centerline goodness : 0.947392 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.60845960e-01 1.42536290e-01 -2.37609863e-01 3.27095053e+00] [-1.38846264e-01 9.89787612e-01 3.22831000e-02 -4.07359208e-01] [ 2.39784813e-01 1.97215550e-03 9.70824059e-01 -4.05742928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59538475 meters Centerline goodness : 0.947632 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.60800259e-01 1.43319598e-01 -2.37323314e-01 3.26989311e+00] [-1.39496308e-01 9.89675352e-01 3.29162109e-02 -4.07183480e-01] [ 2.39590573e-01 1.47982228e-03 9.70872890e-01 -3.99304868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62538475 meters Centerline goodness : 0.950718 Centerline is valid? [False, True] Translation: X:3.27, Y:-0.41, Z:-0.04 [[ 9.60723040e-01 1.44340988e-01 -2.37016708e-01 3.26828519e+00] [-1.40423542e-01 9.89527311e-01 3.34205064e-02 -4.06195202e-01] [ 2.39358455e-01 1.17487501e-03 9.70930559e-01 -3.92141767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65538475 meters Centerline goodness : 0.950840 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.41, Z:-0.03 [[ 0.96057773 0.14484687 -0.2372969 3.29599756] [-0.1414679 0.98944788 0.03130052 -0.40796618] [ 0.23932669 0.00350331 0.97093278 -0.0341151 ] [ 0. 0. 0. 1. ]] SLAMing on 77.68538475 meters Centerline goodness : 0.950045 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.41, Z:-0.03 [[ 0.96017676 0.14747604 -0.23730025 3.32414899] [-0.14418241 0.98905677 0.03127503 -0.4090232 ] [ 0.23931574 0.00418496 0.97093278 -0.02727099] [ 0. 0. 0. 1. ]] SLAMing on 77.71538475 meters Centerline goodness : 0.952407 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.41, Z:-0.02 [[ 0.95992984 0.14907118 -0.23730252 3.35145186] [-0.14582979 0.98881577 0.03125787 -0.41167494] [ 0.23930812 0.00460041 0.97093278 -0.01931028] [ 0. 0. 0. 1. ]] SLAMing on 77.74538475 meters Centerline goodness : 0.952451 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.41, Z:-0.01 [[ 0.95993157 0.14905459 -0.23730594 3.37922253] [-0.14581912 0.98881816 0.03123185 -0.41409903] [ 0.23930767 0.00462331 0.97093278 -0.0098492 ] [ 0. 0. 0. 1. ]] SLAMing on 77.77538474999999 meters Centerline goodness : 0.954742 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.42, Z:-0.00 [[ 9.60295538e-01 1.46687542e-01 -2.37308333e-01 3.40594919e+00] [-1.43385365e-01 9.89174577e-01 3.12136581e-02 -4.17607254e-01] [ 2.39318025e-01 4.05220531e-03 9.70932780e-01 -7.82205285e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80538474999999 meters Centerline goodness : 0.952842 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.42, Z:0.00 [[ 0.96035552 0.14629045 -0.23731074 3.43400206] [-0.14298086 0.98923371 0.03119533 -0.41927875] [ 0.23931936 0.00397229 0.97093278 0.00396555] [ 0. 0. 0. 1. ]] SLAMing on 77.83538474999999 meters Centerline goodness : 0.952554 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.42, Z:0.01 [[ 0.96057886 0.14481177 -0.23731372 3.46097077] [-0.14146332 0.98945257 0.03117268 -0.42200049] [ 0.23932484 0.00362737 0.97093278 0.00960806] [ 0. 0. 0. 1. ]] SLAMing on 77.86538474999999 meters Centerline goodness : 0.953219 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.42, Z:0.02 [[ 9.60749670e-01 1.43669503e-01 -2.37316551e-01 3.48899691e+00] [-1.40292053e-01 9.89620002e-01 3.11510961e-02 -4.24817528e-01] [ 2.39328668e-01 3.36522077e-03 9.70932780e-01 1.75691235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters Centerline goodness : 0.953300 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.43, Z:0.02 [[ 9.60700809e-01 1.43992003e-01 -2.37318898e-01 3.51529530e+00] [-1.40628662e-01 9.89572788e-01 3.11332090e-02 -4.27463645e-01] [ 2.39327256e-01 3.46414000e-03 9.70932780e-01 2.18535214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92538474999999 meters Centerline goodness : 0.955107 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.43, Z:0.03 [[ 0.96040322 0.14595704 -0.23732296 3.54300768] [-0.14266044 0.9892829 0.03110219 -0.43206854] [ 0.23931913 0.00398595 0.97093278 0.03057358] [ 0. 0. 0. 1. ]] SLAMing on 77.95538475 meters Centerline goodness : 0.956544 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.44, Z:0.04 [[ 0.9604272 0.14579549 -0.23732526 3.57021368] [-0.14249835 0.98930681 0.03108469 -0.43589949] [ 0.2393195 0.00396388 0.97093278 0.03802533] [ 0. 0. 0. 1. ]] SLAMing on 77.98538475 meters Centerline goodness : 0.956289 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.44, Z:0.05 [[ 9.60752462e-01 1.43632668e-01 -2.37327544e-01 3.59783450e+00] [-1.40274829e-01 9.89625081e-01 3.10672054e-02 -4.41489195e-01] [ 2.39327555e-01 3.44318644e-03 9.70932781e-01 4.58324261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters Centerline goodness : 0.955576 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.45, Z:0.05 [[ 9.61105987e-01 1.41243905e-01 -2.37329816e-01 3.62489542e+00] [-1.37818590e-01 9.89970678e-01 3.10498349e-02 -4.45372813e-01] [ 2.39335159e-01 2.86627858e-03 9.70932781e-01 5.28401563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04538475 meters Centerline goodness : 0.953803 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.45, Z:0.05 [[ 9.61162100e-01 1.40855843e-01 -2.37333203e-01 3.65372274e+00] [-1.37425270e-01 9.90026167e-01 3.10239291e-02 -4.48917357e-01] [ 2.39335983e-01 2.79655472e-03 9.70932782e-01 5.39676420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters Centerline goodness : 0.950661 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.45, Z:0.06 [[ 9.61141966e-01 1.40980046e-01 -2.37340997e-01 3.68292382e+00] [-1.37567952e-01 9.90008221e-01 3.09641936e-02 -4.52116632e-01] [ 2.39334871e-01 2.88952898e-03 9.70932783e-01 5.81109425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10538475 meters Centerline goodness : 0.947625 Centerline is valid? [True, False] Translation: X:3.69, Y:-0.45, Z:0.06 [[ 9.61114742e-01 1.40069440e-01 -2.37989505e-01 3.68567162e+00] [-1.36662957e-01 9.90137479e-01 3.08384149e-02 -4.53656197e-01] [ 2.39961848e-01 2.88509439e-03 9.70778032e-01 5.77385056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters Centerline goodness : 0.949594 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.46, Z:0.06 [[ 9.61048713e-01 1.39925934e-01 -2.38340311e-01 3.68607173e+00] [-1.36379594e-01 9.90159214e-01 3.13900745e-02 -4.55204786e-01] [ 2.40387141e-01 2.33736412e-03 9.70674281e-01 5.87958316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16538474999999 meters Centerline goodness : 0.954400 Centerline is valid? [False, True] Translation: X:3.68, Y:-0.45, Z:0.06 [[ 0.96149322 0.13684527 -0.23833622 3.68337937] [-0.1339489 0.99058161 0.02838616 -0.45488047] [ 0.23997599 0.00463177 0.97076777 0.05968499] [ 0. 0. 0. 1. ]] SLAMing on 78.19538474999999 meters Centerline goodness : 0.952456 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.46, Z:0.07 [[ 9.61439019e-01 1.37767569e-01 -2.38023339e-01 3.71074905e+00] [-1.34298959e-01 9.90461810e-01 3.08089809e-02 -4.58476669e-01] [ 2.39997505e-01 2.34533013e-03 9.70770672e-01 6.78797809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22538474999999 meters Centerline goodness : 0.956178 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.46, Z:0.07 [[ 9.61480057e-01 1.37467834e-01 -2.38030871e-01 3.73757928e+00] [-1.34004608e-01 9.90503488e-01 3.07506815e-02 -4.61671216e-01] [ 2.39997637e-01 2.33106651e-03 9.70770673e-01 7.48388441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters Centerline goodness : 0.956243 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.47, Z:0.08 [[ 9.61419271e-01 1.37887705e-01 -2.38033540e-01 3.76582308e+00] [-1.34442273e-01 9.90444820e-01 3.07300041e-02 -4.65219715e-01] [ 2.39996377e-01 2.45735197e-03 9.70770674e-01 8.19151492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28538474999999 meters Centerline goodness : 0.957783 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.47, Z:0.09 [[ 9.61127452e-01 1.39894794e-01 -2.38040894e-01 3.79205917e+00] [-1.36524104e-01 9.90161775e-01 3.06729364e-02 -4.68555783e-01] [ 2.39989978e-01 3.01771841e-03 9.70770675e-01 8.99450809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters Centerline goodness : 0.959365 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.47, Z:0.10 [[ 9.61550399e-01 1.36952997e-01 -2.38043496e-01 3.81912193e+00] [-1.33498477e-01 9.90574867e-01 3.06527269e-02 -4.71608423e-01] [ 2.39997887e-01 2.30430258e-03 9.70770675e-01 1.00336995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34538475 meters Centerline goodness : 0.958988 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.47, Z:0.11 [[ 9.61559741e-01 1.36874819e-01 -2.38050725e-01 3.84592268e+00] [-1.33431861e-01 9.90585581e-01 3.05964899e-02 -4.73862331e-01] [ 2.39997505e-01 2.34319822e-03 9.70770677e-01 1.07135802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters Centerline goodness : 0.957729 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.47, Z:0.11 [[ 9.61272757e-01 1.38861558e-01 -2.38059140e-01 3.87555051e+00] [-1.35494833e-01 9.90307536e-01 3.05308800e-02 -4.73696746e-01] [ 2.39991326e-01 2.90728024e-03 9.70770679e-01 1.09407536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40538475 meters Centerline goodness : 0.955501 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.48, Z:0.12 [[ 9.61345717e-01 1.38342600e-01 -2.38066665e-01 3.90242639e+00] [-1.34974758e-01 9.90380365e-01 3.04720889e-02 -4.76491942e-01] [ 2.39992139e-01 2.83877849e-03 9.70770681e-01 1.16061142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters Centerline goodness : 0.956600 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.48, Z:0.12 [[ 9.61378498e-01 1.38099295e-01 -2.38075552e-01 3.93009922e+00] [-1.34741334e-01 9.90414287e-01 3.04025069e-02 -4.79411201e-01] [ 2.39991993e-01 2.85030095e-03 9.70770683e-01 1.21523488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46538475 meters Centerline goodness : 0.954321 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.48, Z:0.13 [[ 9.60999884e-01 1.40705189e-01 -2.38078290e-01 3.95549667e+00] [-1.37431273e-01 9.90045270e-01 3.03810515e-02 -4.83687900e-01] [ 2.39983056e-01 3.52321555e-03 9.70770683e-01 1.28842865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters Centerline goodness : 0.953812 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.49, Z:0.14 [[ 9.60854420e-01 1.41688731e-01 -2.38082102e-01 3.98274651e+00] [-1.38451955e-01 9.89903967e-01 3.03511445e-02 -4.88143088e-01] [ 2.39978833e-01 3.79990107e-03 9.70770684e-01 1.36576534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52538474999999 meters Centerline goodness : 0.953766 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.49, Z:0.14 [[ 0.96063358 0.14316546 -0.23808986 4.00952405] [-0.13998845 0.98968972 0.03029014 -0.49171759] [ 0.23997159 0.00423211 0.97077069 0.14250357] [ 0. 0. 0. 1. ]] SLAMing on 78.55538474999999 meters Centerline goodness : 0.955442 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.49, Z:0.15 [[ 0.96055001 0.14372054 -0.23809261 4.03685893] [-0.14056567 0.98960856 0.03026857 -0.49436919] [ 0.2399687 0.00439318 0.97077069 0.14977344] [ 0. 0. 0. 1. ]] SLAMing on 78.58538474999999 meters Centerline goodness : 0.957466 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.50, Z:0.16 [[ 0.96046408 0.14428922 -0.23809531 4.06461469] [-0.14115684 0.98952506 0.03024725 -0.49743674] [ 0.23996563 0.00455739 0.97077069 0.15854661] [ 0. 0. 0. 1. ]] SLAMing on 78.61538474999999 meters Centerline goodness : 0.957586 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.50, Z:0.17 [[ 0.96063764 0.143116 -0.2381032 4.09238075] [-0.13996354 0.98969645 0.03018506 -0.50115365] [ 0.23996986 0.00432886 0.97077069 0.16659498] [ 0. 0. 0. 1. ]] SLAMing on 78.64538474999999 meters Centerline goodness : 0.958754 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.51, Z:0.17 [[ 9.60864362e-01 1.41582044e-01 -2.38105443e-01 4.11898250e+00] [-1.38387573e-01 9.89918588e-01 3.01673488e-02 -5.06065897e-01] [ 2.39976159e-01 3.96410398e-03 9.70770688e-01 1.73931623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters Centerline goodness : 0.958657 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.51, Z:0.18 [[ 9.60819815e-01 1.41878458e-01 -2.38108770e-01 4.14573662e+00] [-1.38699461e-01 9.89875737e-01 3.01410703e-02 -5.10353449e-01] [ 2.39974463e-01 4.06542038e-03 9.70770689e-01 1.80111449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70538475 meters Centerline goodness : 0.957112 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.51, Z:0.19 [[ 9.60867225e-01 1.41551435e-01 -2.38112088e-01 4.17269914e+00] [-1.38369050e-01 9.89922776e-01 3.01148299e-02 -5.14607273e-01] [ 2.39975377e-01 4.01099032e-03 9.70770689e-01 1.85360099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters Centerline goodness : 0.955982 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.52, Z:0.19 [[ 9.60827008e-01 1.41819547e-01 -2.38114841e-01 4.20004150e+00] [-1.38650665e-01 9.89884034e-01 3.00930510e-02 -5.18750339e-01] [ 2.39973862e-01 4.10056487e-03 9.70770689e-01 1.90425775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76538475 meters Centerline goodness : 0.957025 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.52, Z:0.20 [[ 9.60954431e-01 1.40939014e-01 -2.38123448e-01 4.22727394e+00] [-1.37760415e-01 9.90010394e-01 3.00247963e-02 -5.22463876e-01] [ 2.39976353e-01 3.95152395e-03 9.70770691e-01 1.97074062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters Centerline goodness : 0.957025 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.53, Z:0.20 [[ 9.60993741e-01 1.40656256e-01 -2.38131997e-01 4.25491579e+00] [-1.37485942e-01 9.90050607e-01 2.99568381e-02 -5.25737222e-01] [ 2.39976345e-01 3.95146805e-03 9.70770694e-01 2.03909516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82538475 meters Centerline goodness : 0.957169 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.53, Z:0.21 [[ 9.60937687e-01 1.41024279e-01 -2.38140535e-01 4.28151077e+00] [-1.37881944e-01 9.89997590e-01 2.98888206e-02 -5.31137508e-01] [ 2.39973605e-01 4.11398574e-03 9.70770696e-01 2.11020734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters Centerline goodness : 0.956662 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.53, Z:0.22 [[ 9.61017049e-01 1.40467986e-01 -2.38149062e-01 4.30854501e+00] [-1.37325699e-01 9.90076955e-01 2.98207270e-02 -5.34436614e-01] [ 2.39974755e-01 4.04575933e-03 9.70770698e-01 2.16930585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88538474999999 meters Centerline goodness : 0.953505 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.54, Z:0.22 [[ 9.61137378e-01 1.39627637e-01 -2.38157644e-01 4.33578358e+00] [-1.36476957e-01 9.90196373e-01 2.97520346e-02 -5.38223883e-01] [ 2.39977041e-01 3.90723811e-03 9.70770701e-01 2.20827556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters Centerline goodness : 0.955248 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.54, Z:0.23 [[ 9.61146195e-01 1.39562413e-01 -2.38160294e-01 4.36339676e+00] [-1.36415020e-01 9.90205545e-01 2.97308075e-02 -5.41559477e-01] [ 2.39976947e-01 3.91298870e-03 9.70770701e-01 2.27674700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94538474999999 meters Centerline goodness : 0.954438 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.55, Z:0.23 [[ 9.61147947e-01 1.39535674e-01 -2.38168890e-01 4.39140998e+00] [-1.36404569e-01 9.90209054e-01 2.96617936e-02 -5.46528657e-01] [ 2.39975869e-01 3.97795272e-03 9.70770703e-01 2.34912001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters Centerline goodness : 0.953576 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.55, Z:0.24 [[ 9.61151473e-01 1.39498372e-01 -2.38176509e-01 4.41820920e+00] [-1.36381326e-01 9.90214090e-01 2.96004890e-02 -5.50642761e-01] [ 2.39974955e-01 4.03227451e-03 9.70770705e-01 2.39946216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00538474999999 meters Centerline goodness : 0.956167 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.56, Z:0.25 [[ 9.61175408e-01 1.39328758e-01 -2.38179204e-01 4.44434433e+00] [-1.36211959e-01 9.90238051e-01 2.95787903e-02 -5.56109762e-01] [ 2.39975287e-01 4.01244998e-03 9.70770705e-01 2.48235271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters Centerline goodness : 0.956731 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.56, Z:0.25 [[ 9.61283315e-01 1.38567913e-01 -2.38187578e-01 4.47099558e+00] [-1.35444852e-01 9.90345284e-01 2.95112067e-02 -5.60012144e-01] [ 2.39977251e-01 3.89265065e-03 9.70770707e-01 2.54865180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06538474999999 meters Centerline goodness : 0.952846 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.56, Z:0.26 [[ 9.61449409e-01 1.37396018e-01 -2.38196073e-01 4.49868822e+00] [-1.34254554e-01 9.90509392e-01 2.94424864e-02 -5.63872619e-01] [ 2.39980727e-01 3.67144626e-03 9.70770710e-01 2.59587746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters Centerline goodness : 0.953413 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.57, Z:0.27 [[ 9.61586062e-01 1.36421420e-01 -2.38204621e-01 4.52550381e+00] [-1.33267671e-01 9.90644712e-01 2.93731657e-02 -5.67766336e-01] [ 2.39983277e-01 3.50014834e-03 9.70770712e-01 2.66660745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12538475 meters Centerline goodness : 0.951743 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.57, Z:0.27 [[ 9.61631834e-01 1.36083586e-01 -2.38213083e-01 4.55258671e+00] [-1.32936663e-01 9.90691222e-01 2.93043822e-02 -5.71779268e-01] [ 2.39983456e-01 3.48722553e-03 9.70770714e-01 2.70141212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters Centerline goodness : 0.951730 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.58, Z:0.28 [[ 9.61561603e-01 1.36572616e-01 -2.38216716e-01 4.57948374e+00] [-1.33447792e-01 9.90623375e-01 2.92748245e-02 -5.75157449e-01] [ 2.39981186e-01 3.63994754e-03 9.70770715e-01 2.78829693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18538475 meters Centerline goodness : 0.952218 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.58, Z:0.29 [[ 9.61894947e-01 1.34190133e-01 -2.38224934e-01 4.60608032e+00] [-1.31009921e-01 9.90950708e-01 2.92077989e-02 -5.79633759e-01] [ 2.39988565e-01 3.11499560e-03 9.70770717e-01 2.88262710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters Centerline goodness : 0.952877 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.58, Z:0.29 [[ 9.61983423e-01 1.33549758e-01 -2.38227530e-01 4.63219047e+00] [-1.30355449e-01 9.91037637e-01 2.91866133e-02 -5.82658509e-01] [ 2.39990313e-01 2.97721857e-03 9.70770717e-01 2.94267807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24538475 meters Centerline goodness : 0.954138 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.59, Z:0.30 [[ 9.62643582e-01 1.28698362e-01 -2.38231119e-01 4.65845088e+00] [-1.25364880e-01 9.91682157e-01 2.91572852e-02 -5.86443462e-01] [ 2.40002045e-01 1.79774223e-03 9.70770718e-01 3.02566373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters Centerline goodness : 0.953930 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.59, Z:0.31 [[ 9.62725098e-01 1.28071472e-01 -2.38239551e-01 4.68570594e+00] [-1.24736167e-01 9.91763461e-01 2.90882337e-02 -5.88503996e-01] [ 2.40002654e-01 1.71311571e-03 9.70770720e-01 3.06981045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30538474999999 meters Centerline goodness : 0.952185 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.59, Z:0.31 [[ 9.62547548e-01 1.29391943e-01 -2.38243455e-01 4.71471401e+00] [-1.26104396e-01 9.91591356e-01 2.90562235e-02 -5.90699532e-01] [ 2.39999792e-01 2.07555024e-03 9.70770721e-01 3.12045892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters Centerline goodness : 0.952664 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.59, Z:0.32 [[ 9.62539150e-01 1.29440888e-01 -2.38250795e-01 4.74128259e+00] [-1.26169745e-01 9.91584809e-01 2.89959139e-02 -5.94317773e-01] [ 2.39999126e-01 2.15033972e-03 9.70770722e-01 3.20910841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36538474999999 meters Centerline goodness : 0.951260 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.60, Z:0.33 [[ 9.62550779e-01 1.29338832e-01 -2.38259237e-01 4.76898263e+00] [-1.26081816e-01 9.91598023e-01 2.89263897e-02 -5.97474113e-01] [ 2.39998693e-01 2.19703833e-03 9.70770725e-01 3.27291309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39538474999999 meters Centerline goodness : 0.951683 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.60, Z:0.34 [[ 9.62368347e-01 1.30674140e-01 -2.38267566e-01 4.79615463e+00] [-1.27474451e-01 9.91421960e-01 2.88576242e-02 -6.00736565e-01] [ 2.39994642e-01 2.60136290e-03 9.70770727e-01 3.35323422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42538474999999 meters Centerline goodness : 0.953529 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.60, Z:0.34 [[ 9.62318866e-01 1.31022553e-01 -2.38276079e-01 4.82201179e+00] [-1.27850827e-01 9.91375542e-01 2.87871595e-02 -6.03456095e-01] [ 2.39992845e-01 2.76136719e-03 9.70770730e-01 3.42278641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters Centerline goodness : 0.953519 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.61, Z:0.35 [[ 9.62290828e-01 1.31221650e-01 -2.38279752e-01 4.84953663e+00] [-1.28063471e-01 9.91348979e-01 2.87567261e-02 -6.05531035e-01] [ 2.39991894e-01 2.84259828e-03 9.70770730e-01 3.50064231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48538475 meters Centerline goodness : 0.953757 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.61, Z:0.36 [[ 9.62410420e-01 1.30328237e-01 -2.38287084e-01 4.87673533e+00] [-1.27158153e-01 9.91467272e-01 2.86958494e-02 -6.07789471e-01] [ 2.39993725e-01 2.68296096e-03 9.70770732e-01 3.56257260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters Centerline goodness : 0.951635 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.61, Z:0.36 [[ 9.62223504e-01 1.31696435e-01 -2.38289690e-01 4.90538275e+00] [-1.28573030e-01 9.91285411e-01 2.86741902e-02 -6.10656380e-01] [ 2.39989382e-01 3.04664769e-03 9.70770732e-01 3.61926810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54538475 meters Centerline goodness : 0.951859 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.61, Z:0.37 [[ 9.62322055e-01 1.30961542e-01 -2.38296742e-01 4.93235473e+00] [-1.27830481e-01 9.91383136e-01 2.86154699e-02 -6.12422465e-01] [ 2.39990898e-01 2.92428934e-03 9.70770734e-01 3.68803307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters Centerline goodness : 0.954088 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.61, Z:0.38 [[ 9.62677430e-01 1.28308079e-01 -2.38304852e-01 4.96007058e+00] [-1.25113667e-01 9.91731614e-01 2.85477803e-02 -6.14892561e-01] [ 2.39997366e-01 2.33289014e-03 9.70770736e-01 3.76106282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60538475 meters Centerline goodness : 0.954895 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.62, Z:0.38 [[ 9.62716401e-01 1.28002227e-01 -2.38311900e-01 4.98705580e+00] [-1.24813177e-01 9.91771172e-01 2.84888255e-02 -6.17846600e-01] [ 2.39997505e-01 2.31780579e-03 9.70770738e-01 3.83576257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters Centerline goodness : 0.954745 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.62, Z:0.39 [[ 9.62572263e-01 1.29066723e-01 -2.38319994e-01 5.01455940e+00] [-1.25926606e-01 9.91632361e-01 2.84209529e-02 -6.20531178e-01] [ 2.39994018e-01 2.65360719e-03 9.70770740e-01 3.89991488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66538474999999 meters Centerline goodness : 0.956193 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.62, Z:0.40 [[ 9.62324854e-01 1.30884086e-01 -2.38327989e-01 5.04171231e+00] [-1.27815487e-01 9.91392589e-01 2.83537551e-02 -6.23539304e-01] [ 2.39987658e-01 3.17648471e-03 9.70770742e-01 3.97433441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters Centerline goodness : 0.955755 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.63, Z:0.40 [[ 9.62463799e-01 1.29843403e-01 -2.38336161e-01 5.06873914e+00] [-1.26760421e-01 9.91530010e-01 2.82849023e-02 -6.27374827e-01] [ 2.39990064e-01 2.98839750e-03 9.70770745e-01 4.04278632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72538474999999 meters Centerline goodness : 0.954319 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.63, Z:0.41 [[ 9.62339077e-01 1.30759951e-01 -2.38338700e-01 5.09563694e+00] [-1.27709951e-01 9.91408767e-01 2.82634983e-02 -6.30159132e-01] [ 2.39986810e-01 3.23915463e-03 9.70770745e-01 4.10395433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters Centerline goodness : 0.951991 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.63, Z:0.42 [[ 9.62355135e-01 1.30637283e-01 -2.38341131e-01 5.12296786e+00] [-1.27588658e-01 9.91424969e-01 2.82429792e-02 -6.32304865e-01] [ 2.39986934e-01 3.22984900e-03 9.70770745e-01 4.16201392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78538474999999 meters Centerline goodness : 0.951757 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.63, Z:0.42 [[ 9.62156337e-01 1.32079580e-01 -2.38348837e-01 5.15132838e+00] [-1.29090672e-01 9.91232369e-01 2.81778044e-02 -6.33775083e-01] [ 2.39980795e-01 3.65715855e-03 9.70770747e-01 4.22546432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters Centerline goodness : 0.952205 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.64, Z:0.43 [[ 9.62095198e-01 1.32511520e-01 -2.38355882e-01 5.17740945e+00] [-1.29550457e-01 9.91174078e-01 2.81180824e-02 -6.36339197e-01] [ 2.39978142e-01 3.82684154e-03 9.70770749e-01 4.27939096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84538475 meters Centerline goodness : 0.953206 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.64, Z:0.44 [[ 9.62079477e-01 1.32619321e-01 -2.38359381e-01 5.20363899e+00] [-1.29668872e-01 9.91159435e-01 2.80883899e-02 -6.40123480e-01] [ 2.39977213e-01 3.88452855e-03 9.70770749e-01 4.36665842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters Centerline goodness : 0.954708 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.64, Z:0.44 [[ 9.62089838e-01 1.32529156e-01 -2.38367713e-01 5.23058472e+00] [-1.29593537e-01 9.91171294e-01 2.80175094e-02 -6.43237322e-01] [ 2.39976372e-01 3.93555409e-03 9.70770752e-01 4.44310306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90538475 meters Centerline goodness : 0.957426 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.65, Z:0.45 [[ 9.62111483e-01 1.32367302e-01 -2.38370281e-01 5.25729031e+00] [-1.29432206e-01 9.91192992e-01 2.79956477e-02 -6.47535400e-01] [ 2.39976660e-01 3.91785709e-03 9.70770752e-01 4.52112122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters Centerline goodness : 0.959499 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.65, Z:0.46 [[ 9.62222369e-01 1.31554217e-01 -2.38372818e-01 5.28473570e+00] [-1.28599901e-01 9.91301931e-01 2.79740302e-02 -6.51058096e-01] [ 2.39979536e-01 3.73748308e-03 9.70770752e-01 4.59541320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96538475 meters Centerline goodness : 0.957977 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.65, Z:0.47 [[ 9.62261319e-01 1.31255749e-01 -2.38380120e-01 5.31263567e+00] [-1.28307858e-01 9.91341532e-01 2.79116669e-02 -6.54646771e-01] [ 2.39979680e-01 3.72772515e-03 9.70770754e-01 4.67118948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters Centerline goodness : 0.958119 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.66, Z:0.47 [[ 9.62496651e-01 1.29505353e-01 -2.38387418e-01 5.34067362e+00] [-1.26520043e-01 9.91573044e-01 2.78492008e-02 -6.58766938e-01] [ 2.39985158e-01 3.35602391e-03 9.70770756e-01 4.74283545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02538474999999 meters Centerline goodness : 0.957405 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.66, Z:0.48 [[ 9.62875489e-01 1.26644286e-01 -2.38394668e-01 5.36944649e+00] [-1.23587972e-01 9.91944502e-01 2.77870061e-02 -6.62202330e-01] [ 2.39993346e-01 2.70728645e-03 9.70770758e-01 4.79353158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters Centerline goodness : 0.953230 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.66, Z:0.48 [[ 9.62916942e-01 1.26315024e-01 -2.38401923e-01 5.39716245e+00] [-1.23264213e-01 9.91986532e-01 2.77246228e-02 -6.64966853e-01] [ 2.39993533e-01 2.68991642e-03 9.70770760e-01 4.84040716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08538474999999 meters Centerline goodness : 0.951252 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.67, Z:0.49 [[ 9.62914588e-01 1.26328151e-01 -2.38404477e-01 5.42407770e+00] [-1.23283177e-01 9.91984789e-01 2.77026476e-02 -6.68096752e-01] [ 2.39993239e-01 2.71597774e-03 9.70770760e-01 4.89628070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters Centerline goodness : 0.952124 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.67, Z:0.49 [[ 9.63074660e-01 1.25094797e-01 -2.38408245e-01 5.45189586e+00] [-1.22020629e-01 9.92141788e-01 2.76701848e-02 -6.70594335e-01] [ 2.39996178e-01 2.44227012e-03 9.70770761e-01 4.93921058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14538474999999 meters Centerline goodness : 0.955329 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.67, Z:0.50 [[ 9.63082358e-01 1.25030738e-01 -2.38410752e-01 5.47901670e+00] [-1.21959988e-01 9.92149847e-01 2.76485639e-02 -6.73546486e-01] [ 2.39996112e-01 2.44872842e-03 9.70770761e-01 5.03549577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters Centerline goodness : 0.955847 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.68, Z:0.51 [[ 9.63129788e-01 1.24651306e-01 -2.38417832e-01 5.50599422e+00] [-1.21584249e-01 9.92197665e-01 2.75873779e-02 -6.76821665e-01] [ 2.39996419e-01 2.41762771e-03 9.70770763e-01 5.11644167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20538475 meters Centerline goodness : 0.958499 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.68, Z:0.52 [[ 9.63322186e-01 1.23148349e-01 -2.38421581e-01 5.53397698e+00] [-1.20043967e-01 9.92386100e-01 2.75549415e-02 -6.79956108e-01] [ 2.39999609e-01 2.07678611e-03 9.70770763e-01 5.19190978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters Centerline goodness : 0.957365 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.68, Z:0.53 [[ 9.63436498e-01 1.22237408e-01 -2.38428462e-01 5.56066668e+00] [-1.19120309e-01 9.92499049e-01 2.74952804e-02 -6.82454617e-01] [ 2.40000973e-01 1.91171541e-03 9.70770765e-01 5.27440811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26538475 meters Centerline goodness : 0.957874 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.69, Z:0.53 [[ 9.63430350e-01 1.22278730e-01 -2.38432113e-01 5.58772243e+00] [-1.19170722e-01 9.92493874e-01 2.74635818e-02 -6.85589580e-01] [ 2.40000624e-01 1.95487877e-03 9.70770765e-01 5.34215545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters Centerline goodness : 0.957119 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.69, Z:0.54 [[ 9.63616452e-01 1.20788182e-01 -2.38439822e-01 5.61447678e+00] [-1.17651817e-01 9.92676927e-01 2.73964958e-02 -6.87135904e-01] [ 2.40002883e-01 1.65316414e-03 9.70770768e-01 5.41752488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32538475 meters Centerline goodness : 0.953962 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.69, Z:0.55 [[ 9.63945205e-01 1.18120508e-01 -2.38447452e-01 5.64333943e+00] [-1.14920183e-01 9.92998704e-01 2.73299285e-02 -6.86135376e-01] [ 2.40006236e-01 1.05787138e-03 9.70770770e-01 5.46159174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters Centerline goodness : 0.952030 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.69, Z:0.55 [[ 9.63921251e-01 1.18302371e-01 -2.38454126e-01 5.67076698e+00] [-1.15121962e-01 9.92976936e-01 2.72715760e-02 -6.87721169e-01] [ 2.40005740e-01 1.16365514e-03 9.70770772e-01 5.51740200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38538474999999 meters Centerline goodness : 0.950974 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.69, Z:0.55 [[ 9.63807541e-01 1.19210149e-01 -2.38461661e-01 5.69864141e+00] [-1.16073446e-01 9.92867974e-01 2.72055332e-02 -6.86457211e-01] [ 2.40004122e-01 1.45816859e-03 9.70770774e-01 5.54955954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters Centerline goodness : 0.951981 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.69, Z:0.56 [[ 9.63647025e-01 1.20496195e-01 -2.38463998e-01 5.72529903e+00] [-1.17403346e-01 9.92712158e-01 2.71850378e-02 -6.87706644e-01] [ 2.40001803e-01 1.79969053e-03 9.70770774e-01 5.63339423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44538474999999 meters Centerline goodness : 0.950019 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.69, Z:0.57 [[ 9.63175812e-01 1.24191144e-01 -2.38472041e-01 5.75175483e+00] [-1.21227300e-01 9.92254381e-01 2.71143034e-02 -6.89922140e-01] [ 2.39992284e-01 2.79348043e-03 9.70770776e-01 5.68959565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters Centerline goodness : 0.950371 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.69, Z:0.57 [[ 9.62962899e-01 1.25824801e-01 -2.38475524e-01 5.77894901e+00] [-1.22917881e-01 9.92047212e-01 2.70836376e-02 -6.92199164e-01] [ 2.39986772e-01 3.23236784e-03 9.70770777e-01 5.73892110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50538474999999 meters Centerline goodness : 0.950625 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.69, Z:0.58 [[ 9.62868862e-01 1.26528143e-01 -2.38483091e-01 5.80682910e+00] [-1.23659005e-01 9.91956925e-01 2.70168486e-02 -6.94040317e-01] [ 2.39983345e-01 3.47689951e-03 9.70770779e-01 5.81643409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters Centerline goodness : 0.952033 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.70, Z:0.59 [[ 9.62492607e-01 1.29347586e-01 -2.38489376e-01 5.83400053e+00] [-1.26577424e-01 9.91590262e-01 2.69612503e-02 -6.95035693e-01] [ 2.39971116e-01 4.23736675e-03 9.70770781e-01 5.91777901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56538474999999 meters Centerline goodness : 0.952435 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.70, Z:0.60 [[ 9.62123893e-01 1.32049976e-01 -2.38496159e-01 5.86110396e+00] [-1.29376436e-01 9.91230582e-01 2.69011205e-02 -6.95117839e-01] [ 2.39956979e-01 4.97357239e-03 9.70770782e-01 5.97362345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters Centerline goodness : 0.952454 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.70, Z:0.60 [[ 9.61961321e-01 1.33224821e-01 -2.38498564e-01 5.88868196e+00] [-1.30592115e-01 9.91071731e-01 2.68797874e-02 -6.96848111e-01] [ 2.39950239e-01 5.28871613e-03 9.70770783e-01 6.04663229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62538475 meters Centerline goodness : 0.950249 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 0.96146262 0.13676567 -0.23850531 5.91565883] [-0.13425503 0.99058381 0.02681982 -0.69823881] [ 0.23992753 0.00623429 0.97077078 0.61043407] [ 0. 0. 0. 1. ]] SLAMing on 80.65538475 meters Centerline goodness : 0.948143 Centerline is valid? [True, False] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 0.96140538 0.13715988 -0.23850968 5.91598154] [-0.13465116 0.99052894 0.02686047 -0.69697692] [ 0.23993492 0.0062918 0.97076859 0.61021959] [ 0. 0. 0. 1. ]] SLAMing on 80.68538475 meters Centerline goodness : 0.948143 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 0.96140538 0.13715988 -0.23850968 5.91598154] [-0.13465116 0.99052894 0.02686047 -0.69697692] [ 0.23993492 0.0062918 0.97076859 0.61021959] [ 0. 0. 0. 1. ]] SLAMing on 80.71538475 meters Centerline goodness : 0.948480 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 0.96130752 0.13740861 -0.23876081 5.91680182] [-0.13492973 0.99049329 0.02677719 -0.69627716] [ 0.24017039 0.00647482 0.97070915 0.60989796] [ 0. 0. 0. 1. ]] SLAMing on 80.74538475 meters Centerline goodness : 0.948076 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 0.96125017 0.13774319 -0.23879892 5.91647476] [-0.13513138 0.99044997 0.02735637 -0.69728387] [ 0.24028653 0.00597291 0.97068363 0.61063873] [ 0. 0. 0. 1. ]] SLAMing on 80.77538474999999 meters Centerline goodness : 0.950416 Centerline is valid? [False, True] Translation: X:5.92, Y:-0.70, Z:0.61 [[ 9.61171699e-01 1.38297027e-01 -2.38794674e-01 5.91538325e+00] [-1.35429588e-01 9.90378236e-01 2.84565736e-02 -6.99192354e-01] [ 2.40432508e-01 4.98821120e-03 9.70653041e-01 6.12284943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80538474999999 meters Centerline goodness : 0.952050 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.70, Z:0.62 [[ 0.96125231 0.13741121 -0.23898148 5.94334157] [-0.13492992 0.99049282 0.02679336 -0.70245362] [ 0.24039115 0.00649057 0.9706544 0.62068038] [ 0. 0. 0. 1. ]] SLAMing on 80.83538474999999 meters Centerline goodness : 0.949935 Centerline is valid? [True, False] Translation: X:5.94, Y:-0.70, Z:0.62 [[ 0.96120549 0.13757182 -0.23907738 5.94390785] [-0.13503331 0.99047185 0.02704671 -0.70281417] [ 0.24052028 0.00628597 0.97062376 0.62061078] [ 0. 0. 0. 1. ]] SLAMing on 80.86538474999999 meters Centerline goodness : 0.949843 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.70, Z:0.62 [[ 0.96115905 0.13754213 -0.23928111 5.94523563] [-0.13499947 0.99047595 0.0270653 -0.70272345] [ 0.24072481 0.00628877 0.97057304 0.62007384] [ 0. 0. 0. 1. ]] SLAMing on 80.89538474999999 meters Centerline goodness : 0.948193 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.70, Z:0.62 [[ 0.96116591 0.13675404 -0.23970489 5.94650666] [-0.13415858 0.99058673 0.02719211 -0.70478849] [ 0.24116711 0.00602233 0.97046492 0.62059487] [ 0. 0. 0. 1. ]] SLAMing on 80.92538474999999 meters Centerline goodness : 0.947102 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.61100705e-01 1.36536861e-01 -2.40089817e-01 5.94718818e+00] [-1.33880211e-01 9.90618077e-01 2.74210599e-02 -7.05559502e-01] [ 2.41581298e-01 5.78887542e-03 9.70363316e-01 6.21242553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95538475 meters Centerline goodness : 0.944016 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.61007485e-01 1.36169487e-01 -2.40670907e-01 5.94921376e+00] [-1.33541890e-01 9.90667811e-01 2.72736418e-02 -7.05883800e-01] [ 2.42138758e-01 5.92947395e-03 9.70223512e-01 6.20886385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98538475 meters Centerline goodness : 0.943802 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60918969e-01 1.36376065e-01 -2.40907252e-01 5.95010924e+00] [-1.33632370e-01 9.90641825e-01 2.77698346e-02 -7.06775767e-01] [ 2.42439940e-01 5.50844609e-03 9.70150778e-01 6.21047078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01538475 meters Centerline goodness : 0.943459 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60879010e-01 1.36149373e-01 -2.41194687e-01 5.95097070e+00] [-1.33308523e-01 9.90675104e-01 2.81367414e-02 -7.07959895e-01] [ 2.42776371e-01 5.11730334e-03 9.70068784e-01 6.21495225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04538475 meters Centerline goodness : 0.940957 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60823923e-01 1.36114213e-01 -2.41433865e-01 5.95182346e+00] [-1.33188757e-01 9.90681540e-01 2.84752686e-02 -7.08893161e-01] [ 2.43059962e-01 4.79655694e-03 9.69999406e-01 6.21636032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07538475 meters Centerline goodness : 0.942412 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60777281e-01 1.36022926e-01 -2.41670811e-01 5.95271330e+00] [-1.33041420e-01 9.90695078e-01 2.86922099e-02 -7.09918658e-01] [ 2.43324881e-01 4.58540439e-03 9.69934006e-01 6.21615131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10538475 meters Centerline goodness : 0.942563 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60742767e-01 1.35605311e-01 -2.42042424e-01 5.95384502e+00] [-1.32496376e-01 9.90754621e-01 2.91546149e-02 -7.12104523e-01] [ 2.43758171e-01 4.05965857e-03 9.69827548e-01 6.22151260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13538474999999 meters Centerline goodness : 0.942743 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60703377e-01 1.36469766e-01 -2.41712689e-01 5.95265465e+00] [-1.33164360e-01 9.90638643e-01 3.00388582e-02 -7.12447444e-01] [ 2.43549326e-01 3.32908309e-03 9.69882799e-01 6.22951102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16538474999999 meters Centerline goodness : 0.944284 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60654366e-01 1.37096711e-01 -2.41552647e-01 5.95157059e+00] [-1.33661997e-01 9.90553533e-01 3.06295569e-02 -7.12795902e-01] [ 2.43470039e-01 2.86199158e-03 9.69904196e-01 6.23771445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19538474999999 meters Centerline goodness : 0.942502 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60557158e-01 1.38436677e-01 -2.41174692e-01 5.94936061e+00] [-1.34875825e-01 9.90368210e-01 3.12941006e-02 -7.12665122e-01] [ 2.43184000e-01 2.46886314e-03 9.69977034e-01 6.24606482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22538474999999 meters Centerline goodness : 0.940550 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60457120e-01 1.39202071e-01 -2.41132544e-01 5.94907206e+00] [-1.35560994e-01 9.90261478e-01 3.17083982e-02 -7.12065703e-01] [ 2.43198144e-01 2.23361060e-03 9.69974058e-01 6.24832887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25538474999999 meters Centerline goodness : 0.940371 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.62 [[ 9.60402495e-01 1.39978018e-01 -2.40900814e-01 5.94829631e+00] [-1.36301730e-01 9.90152261e-01 3.19427287e-02 -7.11132404e-01] [ 2.42999765e-01 2.15732140e-03 9.70023948e-01 6.24887052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28538474999999 meters Centerline goodness : 0.942311 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.63 [[ 9.60362060e-01 1.39947442e-01 -2.41079712e-01 5.94816638e+00] [-1.36165301e-01 9.90157393e-01 3.23627620e-02 -7.12191009e-01] [ 2.43235945e-01 1.74672277e-03 9.69965579e-01 6.25866560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31538474999999 meters Centerline goodness : 0.941528 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.63 [[ 9.60305949e-01 1.39849160e-01 -2.41360096e-01 5.94847682e+00] [-1.35981375e-01 9.90171795e-01 3.26937630e-02 -7.12711803e-01] [ 2.43560155e-01 1.42446271e-03 9.69884747e-01 6.26730276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34538475 meters Centerline goodness : 0.943634 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.63 [[ 9.60801554e-01 1.35266852e-01 -2.41998457e-01 5.94872247e+00] [-1.32234619e-01 9.90799772e-01 2.88065406e-02 -7.12686025e-01] [ 2.43668586e-01 4.32320491e-03 9.69848921e-01 6.26661178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37538475 meters Centerline goodness : 0.940970 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.71, Z:0.63 [[ 9.60750497e-01 1.34499477e-01 -2.42628055e-01 5.95157099e+00] [-1.31509305e-01 9.90903569e-01 2.85555661e-02 -7.12455115e-01] [ 2.44261715e-01 4.47307275e-03 9.69699029e-01 6.26205711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40538475 meters Centerline goodness : 0.937773 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.71, Z:0.63 [[ 9.60209865e-01 1.37159785e-01 -2.43278047e-01 5.95674749e+00] [-1.33420334e-01 9.90547184e-01 3.18636126e-02 -7.13409434e-01] [ 2.45348790e-01 1.86248316e-03 9.69433083e-01 6.25535140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43538475 meters Centerline goodness : 0.935906 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:0.17 [[ 0.95056313 -0.26227199 0.16626225 4.96323106] [ 0.31042544 0.81654687 -0.48671064 -0.2941651 ] [-0.00811036 0.51426123 0.85759525 0.16775586] [ 0. 0. 0. 1. ]] SLAMing on 81.46538475 meters Centerline goodness : 0.939801 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.43, Z:0.24 [[ 0.97527924 -0.16224676 0.1500213 5.36986562] [ 0.18411853 0.97204796 -0.14568159 -0.43471708] [-0.12219154 0.16970193 0.97789083 0.24325404] [ 0. 0. 0. 1. ]] SLAMing on 81.49538475 meters Centerline goodness : 0.940809 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.45, Z:0.26 [[ 0.97580385 -0.16583967 0.14249231 5.36765255] [ 0.18399327 0.9748993 -0.12537078 -0.44513495] [-0.1181242 0.14855492 0.98182387 0.25751231] [ 0. 0. 0. 1. ]] SLAMing on 81.52538474999999 meters Centerline goodness : 0.944410 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.46, Z:0.27 [[ 0.97619644 -0.16913384 0.1357728 5.36342834] [ 0.18394088 0.97730428 -0.10508143 -0.45702373] [-0.11491851 0.12755429 0.98515158 0.27252228] [ 0. 0. 0. 1. ]] SLAMing on 81.55538474999999 meters Centerline goodness : 0.947665 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.47, Z:0.29 [[ 0.97686829 -0.17167626 0.12749748 5.36139601] [ 0.18309322 0.97950699 -0.08392217 -0.46690402] [-0.11047723 0.10532483 0.98828208 0.28674321] [ 0. 0. 0. 1. ]] SLAMing on 81.58538474999999 meters Centerline goodness : 0.944687 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.48, Z:0.30 [[ 0.97711593 -0.17573292 0.11984326 5.35957767] [ 0.18433173 0.9807245 -0.06481712 -0.47671149] [-0.10614272 0.08542475 0.99067469 0.29934132] [ 0. 0. 0. 1. ]] SLAMing on 81.61538474999999 meters Centerline goodness : 0.943713 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.48, Z:0.31 [[ 0.97758278 -0.17864996 0.11142753 5.3559511 ] [ 0.18482462 0.98161272 -0.04771082 -0.48484373] [-0.10085515 0.06723583 0.99262661 0.31114229] [ 0. 0. 0. 1. ]] SLAMing on 81.64538474999999 meters Centerline goodness : 0.947588 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.49, Z:0.32 [[ 0.97702398 -0.18559336 0.10478194 5.3522476 ] [ 0.18995676 0.98122972 -0.03323655 -0.49469086] [-0.09664667 0.05237695 0.99393967 0.32360981] [ 0. 0. 0. 1. ]] SLAMing on 81.67538474999999 meters Centerline goodness : 0.946347 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.50, Z:0.32 [[ 0.97693327 -0.18606789 0.10478611 5.35381502] [ 0.1904002 0.98115533 -0.03289353 -0.49618671] [-0.09669103 0.05208608 0.99395065 0.32078601] [ 0. 0. 0. 1. ]] SLAMing on 81.70538475 meters Centerline goodness : 0.942836 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.50, Z:0.32 [[ 0.97772344 -0.17969398 0.10847557 5.36387697] [ 0.18311801 0.98283587 -0.02239288 -0.50130013] [-0.10258982 0.04175787 0.99384687 0.32080562] [ 0. 0. 0. 1. ]] SLAMing on 81.73538475 meters Centerline goodness : 0.943225 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.50, Z:0.32 [[ 0.97790362 -0.17900446 0.10799032 5.36436562] [ 0.18234064 0.98299433 -0.0217724 -0.50192361] [-0.10225651 0.04098233 0.9939135 0.32151934] [ 0. 0. 0. 1. ]] SLAMing on 81.76538475 meters Centerline goodness : 0.939084 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.51, Z:0.32 [[ 0.97907322 -0.17039092 0.111277 5.37463106] [ 0.17271239 0.98490522 -0.0114954 -0.50666679] [-0.10763859 0.03047375 0.99372294 0.32371854] [ 0. 0. 0. 1. ]] SLAMing on 81.79538475 meters Centerline goodness : 0.937009 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.32 [[ 0.97931897 -0.16926673 0.1108293 5.37506267] [ 0.17176098 0.98504902 -0.01328854 -0.50488623] [-0.10692299 0.03204986 0.99375061 0.32407991] [ 0. 0. 0. 1. ]] SLAMing on 81.82538475 meters Centerline goodness : 0.937666 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 0.98010803 -0.1657624 0.10913787 5.37609062] [ 0.16770207 0.98579866 -0.00877603 -0.50447337] [-0.10613323 0.0269041 0.99398788 0.32629967] [ 0. 0. 0. 1. ]] SLAMing on 81.85538475 meters Centerline goodness : 0.941457 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 0.98023972 -0.16500681 0.10910018 5.37538785] [ 0.16691541 0.98593427 -0.00853571 -0.50323925] [-0.10615716 0.02657755 0.99399411 0.32655902] [ 0. 0. 0. 1. ]] SLAMing on 81.88538474999999 meters Centerline goodness : 0.936375 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.80996809e-01 -1.61344366e-01 1.07764822e-01 5.37572477e+00] [ 1.62735391e-01 9.86660884e-01 -4.18248928e-03 -5.02637530e-01] [-1.05652514e-01 2.16401592e-02 9.94167617e-01 3.28423757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91538474999999 meters Centerline goodness : 0.937721 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.81631631e-01 -1.58734679e-01 1.05842537e-01 5.37848934e+00] [ 1.59641763e-01 9.87175009e-01 -9.91681459e-05 -5.02820579e-01] [-1.04469366e-01 1.69942358e-02 9.94382898e-01 3.29434258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94538474999999 meters Centerline goodness : 0.938515 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.82214741e-01 -1.56191625e-01 1.04203549e-01 5.38106307e+00] [ 1.56695564e-01 9.87641155e-01 3.38360999e-03 -5.01761856e-01] [-1.03444205e-01 1.30048023e-02 9.94550236e-01 3.29507043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97538474999999 meters Centerline goodness : 0.935180 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.82271911e-01 -1.55840254e-01 1.04190727e-01 5.38101726e+00] [ 1.56342396e-01 9.87697133e-01 3.38061013e-03 -5.01237622e-01] [-1.03435717e-01 1.29687495e-02 9.94551589e-01 3.29086959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00538474999999 meters Centerline goodness : 0.935709 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.82319368e-01 -1.55956957e-01 1.03566827e-01 5.38241614e+00] [ 1.56442173e-01 9.87681018e-01 3.47166440e-03 -5.00781833e-01] [-1.02832419e-01 1.27919363e-02 9.94616439e-01 3.28985907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03538474999999 meters Centerline goodness : 0.935298 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.50, Z:0.33 [[ 9.82322123e-01 -1.56572671e-01 1.02607236e-01 5.38441542e+00] [ 1.57030424e-01 9.87587015e-01 3.65156695e-03 -5.01215612e-01] [-1.01905310e-01 1.25254428e-02 9.94715246e-01 3.29889277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06538474999999 meters Centerline goodness : 0.937923 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82336301e-01 -1.57070170e-01 1.01707195e-01 5.38626132e+00] [ 1.57509750e-01 9.87510332e-01 3.74477429e-03 -5.01228771e-01] [-1.01025098e-01 1.23412471e-02 9.94807330e-01 3.30606868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09538475 meters Centerline goodness : 0.935715 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82376736e-01 -1.57048891e-01 1.01348875e-01 5.38707988e+00] [ 1.57484438e-01 9.87514389e-01 3.73947161e-03 -5.00943258e-01] [-1.00670752e-01 1.22873007e-02 9.94843918e-01 3.30411344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12538475 meters Centerline goodness : 0.933533 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82400743e-01 -1.57239864e-01 1.00818673e-01 5.38841308e+00] [ 1.57664933e-01 9.87485402e-01 3.78821620e-03 -5.00502972e-01] [-1.00152627e-01 1.21740229e-02 9.94897605e-01 3.30166569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15538475 meters Centerline goodness : 0.935075 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82261720e-01 -1.58948053e-01 9.94858233e-02 5.39228618e+00] [ 1.59390830e-01 9.87209239e-01 3.53292220e-03 -5.01076869e-01] [-9.87748750e-02 1.23868737e-02 9.95032708e-01 3.30636373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18538475 meters Centerline goodness : 0.933483 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82256004e-01 -1.59223047e-01 9.91017901e-02 5.39334664e+00] [ 1.59681088e-01 9.87162990e-01 3.34395504e-03 -5.00371763e-01] [-9.83620541e-02 1.25400617e-02 9.95071682e-01 3.30285926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21538475 meters Centerline goodness : 0.934076 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.50, Z:0.33 [[ 9.82271636e-01 -1.59458298e-01 9.85671582e-02 5.39456784e+00] [ 1.59918632e-01 9.87124804e-01 3.26380647e-03 -4.98925914e-01] [-9.78185278e-02 1.25567806e-02 9.95125049e-01 3.30191960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24538475 meters Centerline goodness : 0.934405 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.50, Z:0.33 [[ 9.82304331e-01 -1.59643956e-01 9.79388054e-02 5.39555371e+00] [ 1.60091038e-01 9.87096645e-01 3.32751471e-03 -4.98160416e-01] [-9.72062839e-02 1.24104929e-02 9.95186876e-01 3.30897256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27538474999999 meters Centerline goodness : 0.936786 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.50, Z:0.33 [[ 9.82422041e-01 -1.59283771e-01 9.73427594e-02 5.39550568e+00] [ 1.59676417e-01 9.87162120e-01 3.79353533e-03 -4.97028604e-01] [-9.66973334e-02 1.18164903e-02 9.95243687e-01 3.32832019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30538474999999 meters Centerline goodness : 0.937139 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.50, Z:0.33 [[ 9.82500068e-01 -1.59043321e-01 9.69476035e-02 5.39568971e+00] [ 1.59450760e-01 9.87199391e-01 3.58014552e-03 -4.95093065e-01] [-9.62760133e-02 1.19408758e-02 9.95283048e-01 3.33118076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters Centerline goodness : 0.935597 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.33 [[ 0.98337647 -0.15432033 0.09568671 5.39609765] [ 0.15438891 0.98798722 0.00673129 -0.49300919] [-0.09557602 0.00815357 0.99538874 0.33410534] [ 0. 0. 0. 1. ]] SLAMing on 82.36538474999999 meters Centerline goodness : 0.934439 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.33 [[ 0.98350662 -0.1535082 0.09565547 5.39553948] [ 0.15362236 0.98811009 0.00621387 -0.49074364] [-0.09547201 0.00858343 0.99539511 0.3333088 ] [ 0. 0. 0. 1. ]] SLAMing on 82.39538474999999 meters Centerline goodness : 0.931350 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.33 [[ 9.84170159e-01 -1.50229954e-01 9.40215883e-02 5.39736061e+00] [ 1.49984586e-01 9.88640639e-01 9.71142352e-03 -4.88141051e-01] [-9.44125098e-02 4.54409575e-03 9.95522792e-01 3.33541758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42538474999999 meters Centerline goodness : 0.930854 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.33 [[ 9.84262844e-01 -1.49649387e-01 9.39772009e-02 5.39683121e+00] [ 1.49400335e-01 9.88729010e-01 9.72035213e-03 -4.87286546e-01] [-9.43726295e-02 4.47284389e-03 9.95526896e-01 3.33734642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45538475 meters Centerline goodness : 0.932996 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.34 [[ 9.84435464e-01 -1.49040255e-01 9.31333421e-02 5.39724576e+00] [ 1.48748658e-01 9.88823413e-01 1.01042243e-02 -4.86697515e-01] [-9.35983654e-02 3.90650289e-03 9.95602373e-01 3.35218005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48538475 meters Centerline goodness : 0.933022 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.34 [[ 9.84494231e-01 -1.49014483e-01 9.25515724e-02 5.39811615e+00] [ 1.48711246e-01 9.88828022e-01 1.02033190e-02 -4.86044790e-01] [-9.30380306e-02 3.71835094e-03 9.95655613e-01 3.35684377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51538475 meters Centerline goodness : 0.932591 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.49, Z:0.34 [[ 9.84533600e-01 -1.48856039e-01 9.23876049e-02 5.39808940e+00] [ 1.48569457e-01 9.88851304e-01 1.00107177e-02 -4.85170058e-01] [-9.28477594e-02 3.87008829e-03 9.95672796e-01 3.35810711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54538475 meters Centerline goodness : 0.932324 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.48, Z:0.34 [[ 9.84571460e-01 -1.49002428e-01 9.17459338e-02 5.39929785e+00] [ 1.48726576e-01 9.88829050e-01 9.87495329e-03 -4.83914899e-01] [-9.21924366e-02 3.92246143e-03 9.95733483e-01 3.35969297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57538475 meters Centerline goodness : 0.930466 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.48, Z:0.34 [[ 9.84572399e-01 -1.49439609e-01 9.10219458e-02 5.40107481e+00] [ 1.49177353e-01 9.88762716e-01 9.71644016e-03 -4.83349154e-01] [-9.14511274e-02 4.01187411e-03 9.95801484e-01 3.35872489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60538475 meters Centerline goodness : 0.930466 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.48, Z:0.34 [[ 9.84572399e-01 -1.49439609e-01 9.10219458e-02 5.40107481e+00] [ 1.49177353e-01 9.88762716e-01 9.71644016e-03 -4.83349154e-01] [-9.14511274e-02 4.01187411e-03 9.95801484e-01 3.35872489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63538474999999 meters Centerline goodness : 0.930919 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.48, Z:0.34 [[ 0.98409588 -0.15204681 0.09185355 5.39989931] [ 0.15216396 0.98833844 0.00576766 -0.48161056] [-0.09165935 0.00830087 0.99575582 0.3354294 ] [ 0. 0. 0. 1. ]] SLAMing on 82.66538474999999 meters Centerline goodness : 0.932734 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.48, Z:0.34 [[ 9.83956423e-01 -1.53673468e-01 9.06323463e-02 5.40161108e+00] [ 1.53946937e-01 9.88070989e-01 4.00760258e-03 -4.82638875e-01] [-9.01670542e-02 1.00092658e-02 9.95876356e-01 3.36860240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69538474999999 meters Centerline goodness : 0.934627 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.34 [[ 9.83739246e-01 -1.55810038e-01 8.93326806e-02 5.40561073e+00] [ 1.56115338e-01 9.87732263e-01 3.60244746e-03 -4.82862498e-01] [-8.87980683e-02 1.04023327e-02 9.95995329e-01 3.37471158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72538474999999 meters Centerline goodness : 0.936129 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.34 [[ 9.83686179e-01 -1.56426788e-01 8.88378402e-02 5.40733675e+00] [ 1.56745770e-01 9.87633071e-01 3.41769674e-03 -4.82527556e-01] [-8.82738083e-02 1.05630147e-02 9.96040239e-01 3.37008933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75538474999999 meters Centerline goodness : 0.934694 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.34 [[ 9.83581400e-01 -1.57768631e-01 8.76167195e-02 5.41146458e+00] [ 1.58151159e-01 9.87411484e-01 2.60246143e-03 -4.80881934e-01] [-8.69243417e-02 1.12969531e-02 9.96150861e-01 3.35289951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78538474999999 meters Centerline goodness : 0.931106 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.33 [[ 9.83583969e-01 -1.57976883e-01 8.72117020e-02 5.41274448e+00] [ 1.58365767e-01 9.87377388e-01 2.48559576e-03 -4.80221105e-01] [-8.65035292e-02 1.13665559e-02 9.96186700e-01 3.34728222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81538474999999 meters Centerline goodness : 0.929731 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.34 [[ 9.83688026e-01 -1.57700018e-01 8.65365384e-02 5.41365657e+00] [ 1.58065145e-01 9.87425104e-01 2.65975014e-03 -4.79280192e-01] [-8.58677931e-02 1.10620461e-02 9.96245127e-01 3.35128238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84538475 meters Centerline goodness : 0.930648 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.48, Z:0.34 [[ 9.83755800e-01 -1.57297707e-01 8.64983125e-02 5.41320653e+00] [ 1.57649378e-01 9.87491201e-01 2.79325738e-03 -4.79187209e-01] [-8.58556954e-02 1.08885220e-02 9.96248081e-01 3.35650412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87538475 meters Centerline goodness : 0.932368 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 0.98437577 -0.15428824 0.08484978 5.41518641] [ 0.15427155 0.98800513 0.00679321 -0.47947692] [-0.08488013 0.00640283 0.9963706 0.33673953] [ 0. 0. 0. 1. ]] SLAMing on 82.90538475 meters Centerline goodness : 0.927283 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.84949166e-01 -1.51570463e-01 8.30754764e-02 5.41826039e+00] [ 1.51240581e-01 9.88443461e-01 1.02864279e-02 -4.78980678e-01] [-8.36745301e-02 2.43277468e-03 9.96490168e-01 3.36407095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93538475 meters Centerline goodness : 0.927497 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.84939478e-01 -1.51769008e-01 8.28274883e-02 5.41938978e+00] [ 1.51497133e-01 9.88411133e-01 9.59427779e-03 -4.77685560e-01] [-8.33237256e-02 3.09834408e-03 9.96517715e-01 3.35080915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96538475 meters Centerline goodness : 0.927454 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.33 [[ 9.84955248e-01 -1.52013550e-01 8.21890495e-02 5.42091116e+00] [ 1.51780290e-01 9.88372225e-01 9.11529410e-03 -4.76565586e-01] [-8.26190219e-02 3.49652100e-03 9.96575071e-01 3.34511566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99538475 meters Centerline goodness : 0.929742 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.85052091e-01 -1.51740875e-01 8.15296571e-02 5.42166497e+00] [ 1.51478501e-01 9.88415569e-01 9.43005970e-03 -4.76278088e-01] [-8.20161079e-02 3.06089020e-03 9.96626304e-01 3.35318893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02538474999999 meters Centerline goodness : 0.927954 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.85087706e-01 -1.51583137e-01 8.13926532e-02 5.42148443e+00] [ 1.51292712e-01 9.88440824e-01 9.75972399e-03 -4.76843882e-01] [-8.19312307e-02 2.69993114e-03 9.96634328e-01 3.36306048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05538474999999 meters Centerline goodness : 0.935006 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.85125731e-01 -1.51788703e-01 8.05449191e-02 5.42249981e+00] [ 1.51426196e-01 9.88411453e-01 1.06257515e-02 -4.78790231e-01] [-8.12243896e-02 1.72890944e-03 9.96694341e-01 3.38771875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08538474999999 meters Centerline goodness : 0.932771 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:0.34 [[ 9.85093892e-01 -1.52459033e-01 7.96634648e-02 5.42464673e+00] [ 1.52089742e-01 9.88308565e-01 1.07187482e-02 -4.79102000e-01] [-8.03662545e-02 1.55702240e-03 9.96764185e-01 3.39202528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11538474999999 meters Centerline goodness : 0.932403 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.48, Z:0.34 [[ 9.84989380e-01 -1.53514158e-01 7.89260764e-02 5.42750331e+00] [ 1.53138941e-01 9.88145417e-01 1.08212766e-02 -4.80647357e-01] [-7.96516598e-02 1.42781322e-03 9.96821737e-01 3.38783152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14538474999999 meters Centerline goodness : 0.935577 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.48, Z:0.34 [[ 9.84929069e-01 -1.54307267e-01 7.81280750e-02 5.42997042e+00] [ 1.53941849e-01 9.88021809e-01 1.07150194e-02 -4.81473361e-01] [-7.88456474e-02 1.47364625e-03 9.96885747e-01 3.38475880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters Centerline goodness : 0.935956 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.48, Z:0.34 [[ 9.84879276e-01 -1.55180554e-01 7.70182248e-02 5.43351076e+00] [ 1.54819818e-01 9.87885110e-01 1.06692780e-02 -4.83457902e-01] [-7.77408219e-02 1.41599672e-03 9.96972597e-01 3.37861702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20538475 meters Centerline goodness : 0.934224 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.48, Z:0.34 [[ 0.98439625 -0.15760933 0.0782517 5.43216317] [ 0.15759146 0.98748338 0.00644265 -0.48270461] [-0.07828767 0.00598968 0.99691282 0.3361817 ] [ 0. 0. 0. 1. ]] SLAMing on 83.23538475 meters Centerline goodness : 0.936194 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.49, Z:0.34 [[ 9.85831087e-01 -1.52198309e-01 7.05176804e-02 5.44337530e+00] [ 1.52391372e-01 9.88316632e-01 2.66554985e-03 -4.86295018e-01] [-7.00994885e-02 8.11850413e-03 9.97506968e-01 3.39708276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26538475 meters Centerline goodness : 0.935705 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.49, Z:0.34 [[ 9.85882347e-01 -1.52032728e-01 7.01573058e-02 5.44424525e+00] [ 1.52202679e-01 9.88344906e-01 2.94820077e-03 -4.87694680e-01] [-6.97878388e-02 7.77155080e-03 9.97531584e-01 3.39603183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters Centerline goodness : 0.933132 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.49, Z:0.34 [[ 9.85988382e-01 -1.51615988e-01 6.95665403e-02 5.44641110e+00] [ 1.51743604e-01 9.88413773e-01 3.47724616e-03 -4.89375474e-01] [-6.92877327e-02 7.12775326e-03 9.97571253e-01 3.38208445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32538475 meters Centerline goodness : 0.931636 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.49, Z:0.34 [[ 9.86079441e-01 -1.51102169e-01 6.93935980e-02 5.44692835e+00] [ 1.51197636e-01 9.88495840e-01 3.90504877e-03 -4.90593557e-01] [-6.91853443e-02 6.64145966e-03 9.97581716e-01 3.37686460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters Centerline goodness : 0.927924 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.50, Z:0.34 [[ 9.87786907e-01 -1.43502033e-01 6.06975500e-02 5.45957601e+00] [ 1.43600313e-01 9.89631911e-01 2.76258352e-03 -4.95881768e-01] [-6.04646687e-02 5.98734334e-03 9.98152381e-01 3.41710435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38538474999999 meters Centerline goodness : 0.929442 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.50, Z:0.34 [[ 9.87742478e-01 -1.44218437e-01 5.97146534e-02 5.46200103e+00] [ 1.44258576e-01 9.89533254e-01 3.66102017e-03 -4.99444880e-01] [-5.96176219e-02 4.99820572e-03 9.98208774e-01 3.43172112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters Centerline goodness : 0.937509 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.51, Z:0.35 [[ 9.87318129e-01 -1.47099810e-01 5.97039221e-02 5.46193408e+00] [ 1.47212362e-01 9.89101665e-01 2.53305638e-03 -5.05048245e-01] [-5.94258609e-02 6.28822292e-03 9.98212916e-01 3.47037573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44538474999999 meters Centerline goodness : 0.937726 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.51, Z:0.35 [[ 9.87336310e-01 -1.47135150e-01 5.93149147e-02 5.46301762e+00] [ 1.47193510e-01 9.89101843e-01 3.40808971e-03 -5.07111512e-01] [-5.91699413e-02 5.36583979e-03 9.98233503e-01 3.47547316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters Centerline goodness : 0.943276 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.51, Z:0.35 [[ 9.86638608e-01 -1.51836860e-01 5.90747403e-02 5.46610834e+00] [ 1.52030606e-01 9.88375024e-01 1.22716572e-03 -5.12539086e-01] [-5.85743269e-02 7.77039950e-03 9.98252808e-01 3.48992365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50538474999999 meters Centerline goodness : 0.944125 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.51, Z:0.35 [[ 9.86647127e-01 -1.52040371e-01 5.84052463e-02 5.46785623e+00] [ 1.52181017e-01 9.88350495e-01 2.05824588e-03 -5.14686140e-01] [-5.80377906e-02 6.85740741e-03 9.98290835e-01 3.49498664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53538474999999 meters Centerline goodness : 0.944721 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.52, Z:0.35 [[ 9.86486181e-01 -1.53377487e-01 5.76225819e-02 5.47144643e+00] [ 1.53483998e-01 9.88147715e-01 2.59916190e-03 -5.18639567e-01] [-5.73382756e-02 6.28010698e-03 9.98335055e-01 3.49280343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56538474999999 meters Centerline goodness : 0.942579 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.52, Z:0.35 [[ 9.86467555e-01 -1.53877659e-01 5.65988400e-02 5.47422018e+00] [ 1.53952549e-01 9.88073501e-01 3.06088340e-03 -5.20608187e-01] [-5.63948155e-02 5.69407353e-03 9.98392309e-01 3.49483093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters Centerline goodness : 0.941752 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.52, Z:0.35 [[ 9.85894720e-01 -1.57628525e-01 5.62569838e-02 5.47678555e+00] [ 1.57873977e-01 9.87459265e-01 8.22647139e-05 -5.24868467e-01] [-5.55644472e-02 8.80040940e-03 9.98416318e-01 3.49776975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62538475 meters Centerline goodness : 0.945301 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.53, Z:0.35 [[ 9.85893117e-01 -1.57797133e-01 5.58106362e-02 5.47825022e+00] [ 1.58016867e-01 9.87436296e-01 4.81553418e-04 -5.25936102e-01] [-5.51854356e-02 8.34426165e-03 9.98441256e-01 3.49667303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters Centerline goodness : 0.942726 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.53, Z:0.35 [[ 9.85896883e-01 -1.58054334e-01 5.50105737e-02 5.48055149e+00] [ 1.58236932e-01 9.87400615e-01 1.04795113e-03 -5.27448635e-01] [-5.44831075e-02 7.67153266e-03 9.98485222e-01 3.49736643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68538475 meters Centerline goodness : 0.941642 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.53, Z:0.35 [[ 9.85814278e-01 -1.58950484e-01 5.38976121e-02 5.48392989e+00] [ 1.59105987e-01 9.87260485e-01 1.42081683e-03 -5.29692075e-01] [-5.34368222e-02 7.17477125e-03 9.98545456e-01 3.50012734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71538475 meters Centerline goodness : 0.939879 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.53, Z:0.35 [[ 9.85776377e-01 -1.59402982e-01 5.32505796e-02 5.48588925e+00] [ 1.59543873e-01 9.87189507e-01 1.62195200e-03 -5.29982919e-01] [-5.28269573e-02 6.89692173e-03 9.98579864e-01 3.49876940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74538475 meters Centerline goodness : 0.934754 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.53, Z:0.35 [[ 9.86109428e-01 -1.58065381e-01 5.10248128e-02 5.49199958e+00] [ 1.58031645e-01 9.87422765e-01 4.72044536e-03 -5.29984522e-01] [-5.11292007e-02 3.40865943e-03 9.98686230e-01 3.48593303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters Centerline goodness : 0.936511 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.53, Z:0.35 [[ 9.86222429e-01 -1.57433698e-01 5.07932176e-02 5.49208068e+00] [ 1.57405674e-01 9.87523422e-01 4.57654344e-03 -5.30344814e-01] [-5.08799942e-02 3.48165088e-03 9.98698705e-01 3.49315396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80538474999999 meters Centerline goodness : 0.934945 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.53, Z:0.34 [[ 9.87044772e-01 -1.49250960e-01 5.88792675e-02 5.49775454e+00] [ 1.49118524e-01 9.88796890e-01 6.66152277e-03 -5.34803190e-01] [-5.92138753e-02 2.20476827e-03 9.98242884e-01 3.43429249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83538474999999 meters Centerline goodness : 0.938925 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.54, Z:0.34 [[ 9.87752240e-01 -1.41641734e-01 6.54456381e-02 5.50612260e+00] [ 1.41315201e-01 9.89917955e-01 9.61544673e-03 -5.37483252e-01] [-6.61477608e-02 -2.49215552e-04 9.97809807e-01 3.40845455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86538474999999 meters Centerline goodness : 0.937809 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.54, Z:0.34 [[ 9.87794596e-01 -1.41516523e-01 6.50761904e-02 5.50664770e+00] [ 1.41194666e-01 9.89935865e-01 9.54195522e-03 -5.37227395e-01] [-6.57715991e-02 -2.37080843e-04 9.97834676e-01 3.40945731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89538474999999 meters Centerline goodness : 0.937130 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.54, Z:0.34 [[ 9.87900297e-01 -1.41111862e-01 6.43463021e-02 5.50765637e+00] [ 1.40797225e-01 9.89993627e-01 9.42126089e-03 -5.35590015e-01] [-6.50318807e-02 -2.47485636e-04 9.97883156e-01 3.40927279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92538474999999 meters Centerline goodness : 0.938326 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.34 [[ 9.87934667e-01 -1.41090771e-01 6.38630374e-02 5.50865616e+00] [ 1.40789578e-01 9.89996657e-01 9.21482361e-03 -5.34029993e-01] [-6.45243201e-02 -1.12393625e-04 9.97916128e-01 3.40647564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95538475 meters Centerline goodness : 0.938612 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.34 [[ 9.88076077e-01 -1.40225278e-01 6.35809467e-02 5.50829167e+00] [ 1.39931229e-01 9.90119622e-01 9.07661692e-03 -5.31813962e-01] [-6.42255141e-02 -7.14280277e-05 9.97935408e-01 3.40687470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98538475 meters Centerline goodness : 0.940869 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.34 [[ 9.88124098e-01 -1.40168859e-01 6.29560019e-02 5.50928954e+00] [ 1.39877918e-01 9.90127607e-01 9.02718326e-03 -5.30837373e-01] [-6.35998055e-02 -1.13822870e-04 9.97975477e-01 3.40972937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01538475 meters Centerline goodness : 0.940061 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.34 [[ 9.88198214e-01 -1.39882334e-01 6.24277351e-02 5.50969503e+00] [ 1.39576608e-01 9.90168040e-01 9.25327349e-03 -5.29975334e-01] [-6.31083176e-02 -4.30616795e-04 9.98006591e-01 3.41798792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04538475 meters Centerline goodness : 0.939351 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.34 [[ 9.88768630e-01 -1.36578645e-01 6.06866479e-02 5.51153751e+00] [ 1.36012937e-01 9.90616754e-01 1.33763907e-02 -5.29285192e-01] [-6.19441394e-02 -4.97198632e-03 9.98067234e-01 3.43560735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07538475 meters Centerline goodness : 0.940043 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.35 [[ 0.98930864 -0.13339323 0.05894626 5.51368516] [ 0.13256947 0.99101587 0.01768863 -0.52976302] [-0.06077622 -0.00968504 0.99810443 0.34537975] [ 0. 0. 0. 1. ]] SLAMing on 84.10538475 meters Centerline goodness : 0.941428 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.53, Z:0.35 [[ 0.98892629 -0.13606327 0.05925857 5.51322861] [ 0.13548159 0.99068453 0.01374433 -0.52853453] [-0.06057665 -0.00556369 0.99814804 0.34524432] [ 0. 0. 0. 1. ]] SLAMing on 84.13538474999999 meters Centerline goodness : 0.940501 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.53, Z:0.34 [[ 0.98935082 -0.13372779 0.05746157 5.51744502] [ 0.13298138 0.99097884 0.01664017 -0.52648557] [-0.05916845 -0.00882164 0.99820903 0.34374587] [ 0. 0. 0. 1. ]] SLAMing on 84.16538474999999 meters Centerline goodness : 0.939650 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98940661 -0.13349811 0.05703342 5.51849457] [ 0.13277986 0.99101283 0.01621976 -0.52443036] [-0.05868616 -0.00847505 0.99824051 0.3426617 ] [ 0. 0. 0. 1. ]] SLAMing on 84.19538474999999 meters Centerline goodness : 0.938604 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.9895289 -0.13298418 0.05610485 5.51965593] [ 0.13226538 0.99107944 0.01635274 -0.52330583] [-0.05777902 -0.00876078 0.99829096 0.3431084 ] [ 0. 0. 0. 1. ]] SLAMing on 84.22538474999999 meters Centerline goodness : 0.937343 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98953585 -0.13321943 0.05542004 5.5209898 ] [ 0.13249753 0.99104567 0.01651908 -0.52361225] [-0.05712445 -0.0090032 0.99832647 0.34385105] [ 0. 0. 0. 1. ]] SLAMing on 84.25538474999999 meters Centerline goodness : 0.940822 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98958025 -0.13327594 0.05448353 5.52257527] [ 0.13257587 0.99103909 0.0162839 -0.52307749] [-0.05616556 -0.00889103 0.99838188 0.34424307] [ 0. 0. 0. 1. ]] SLAMing on 84.28538474999999 meters Centerline goodness : 0.938930 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98961518 -0.13327971 0.05383602 5.52409595] [ 0.1325888 0.99103835 0.01622352 -0.52239383] [-0.05551583 -0.00891699 0.99841799 0.34399225] [ 0. 0. 0. 1. ]] SLAMing on 84.31538474999999 meters Centerline goodness : 0.940502 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98971687 -0.13257167 0.05371479 5.52379039] [ 0.13188732 0.99113385 0.01610662 -0.52114853] [-0.05537383 -0.00885669 0.99842641 0.34382706] [ 0. 0. 0. 1. ]] SLAMing on 84.34538475 meters Centerline goodness : 0.941968 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.52, Z:0.34 [[ 0.98974279 -0.13262489 0.05310221 5.52480301] [ 0.13193836 0.99112476 0.01624746 -0.52063583] [-0.05478573 -0.00907459 0.9984569 0.34443406] [ 0. 0. 0. 1. ]] SLAMing on 84.37538475 meters Centerline goodness : 0.942305 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.52, Z:0.34 [[ 0.98985649 -0.13206652 0.05236945 5.52560645] [ 0.13138072 0.99119725 0.01634373 -0.52007433] [-0.05406691 -0.00929761 0.99849403 0.34490898] [ 0. 0. 0. 1. ]] SLAMing on 84.40538475 meters Centerline goodness : 0.943489 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.52, Z:0.34 [[ 0.98983794 -0.13234486 0.05201619 5.52653258] [ 0.13166591 0.99116038 0.01628462 -0.52025943] [-0.05371158 -0.00927038 0.99851346 0.34497366] [ 0. 0. 0. 1. ]] SLAMing on 84.43538475 meters Centerline goodness : 0.946199 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.52, Z:0.34 [[ 0.98965378 -0.13432435 0.05042183 5.53166255] [ 0.13369437 0.99089854 0.01568097 -0.52017626] [-0.05206925 -0.00877762 0.9986049 0.34444774] [ 0. 0. 0. 1. ]] SLAMing on 84.46538475 meters Centerline goodness : 0.941679 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99000973 -0.13237271 0.04856139 5.53712944] [ 0.13161985 0.99112947 0.01840071 -0.51844383] [-0.05056638 -0.01182524 0.99865069 0.34185149] [ 0. 0. 0. 1. ]] SLAMing on 84.49538474999999 meters Centerline goodness : 0.941679 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99000973 -0.13237271 0.04856139 5.53712944] [ 0.13161985 0.99112947 0.01840071 -0.51844383] [-0.05056638 -0.01182524 0.99865069 0.34185149] [ 0. 0. 0. 1. ]] SLAMing on 84.52538474999999 meters Centerline goodness : 0.941360 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99006564 -0.13215455 0.04801263 5.53835025] [ 0.13141996 0.99116041 0.01816138 -0.51709058] [-0.04998833 -0.01167114 0.99868161 0.34112962] [ 0. 0. 0. 1. ]] SLAMing on 84.55538474999999 meters Centerline goodness : 0.938623 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99008094 -0.13218353 0.04761559 5.53946863] [ 0.13146988 0.99115974 0.01783376 -0.51642392] [-0.04955199 -0.01139685 0.99870652 0.3405681 ] [ 0. 0. 0. 1. ]] SLAMing on 84.58538474999999 meters Centerline goodness : 0.938650 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.9905828 -0.12910837 0.04557134 5.54280473] [ 0.12823543 0.99150855 0.02159791 -0.51673367] [-0.04797284 -0.01555066 0.99872758 0.34119653] [ 0. 0. 0. 1. ]] SLAMing on 84.61538474999999 meters Centerline goodness : 0.935430 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99064086 -0.12893089 0.04480532 5.54407527] [ 0.12806755 0.99152923 0.02164478 -0.51589401] [-0.04721647 -0.0157041 0.99876123 0.34144647] [ 0. 0. 0. 1. ]] SLAMing on 84.64538474999999 meters Centerline goodness : 0.935614 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:0.34 [[ 0.99081588 -0.12783833 0.04405957 5.54469211] [ 0.12695757 0.99165854 0.02225139 -0.51525878] [-0.04653662 -0.01645333 0.99878107 0.34189227] [ 0. 0. 0. 1. ]] SLAMing on 84.67538474999999 meters Centerline goodness : 0.937330 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:0.34 [[ 0.99078874 -0.12820564 0.04360034 5.54609909] [ 0.12733763 0.99161216 0.02214621 -0.51499249] [-0.04607389 -0.01639026 0.99880356 0.34166425] [ 0. 0. 0. 1. ]] SLAMing on 84.70538475 meters Centerline goodness : 0.940945 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:0.34 [[ 0.99083909 -0.12805348 0.04289768 5.54739802] [ 0.12718931 0.99162744 0.0223137 -0.51497284] [-0.04539586 -0.01665316 0.99883026 0.34195197] [ 0. 0. 0. 1. ]] SLAMing on 84.73538475 meters Centerline goodness : 0.942078 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:0.34 [[ 0.99088177 -0.12794385 0.04223371 5.54848004] [ 0.12707206 0.99163302 0.02272977 -0.51527075] [-0.04478848 -0.01715579 0.99884917 0.34271242] [ 0. 0. 0. 1. ]] SLAMing on 84.76538475 meters Centerline goodness : 0.945148 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:0.34 [[ 0.99044214 -0.13146127 0.04174083 5.54968418] [ 0.13073385 0.99122146 0.01971494 -0.51729895] [-0.04396616 -0.01406957 0.99893394 0.34481603] [ 0. 0. 0. 1. ]] SLAMing on 84.79538475 meters Centerline goodness : 0.949403 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:0.35 [[ 0.98969288 -0.13714859 0.04120998 5.55348345] [ 0.13660551 0.99050062 0.01573062 -0.51870476] [-0.04297594 -0.00993897 0.99902667 0.34529671] [ 0. 0. 0. 1. ]] SLAMing on 84.82538475 meters Centerline goodness : 0.949650 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.52, Z:0.34 [[ 0.98949241 -0.13890081 0.04014154 5.55788367] [ 0.13841362 0.99026563 0.01468496 -0.51754123] [-0.04179054 -0.00897452 0.99908609 0.34337241] [ 0. 0. 0. 1. ]] SLAMing on 84.85538475 meters Centerline goodness : 0.944573 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.52, Z:0.34 [[ 0.98933212 -0.1402481 0.03940089 5.56195578] [ 0.13982538 0.99008684 0.01330078 -0.51551598] [-0.04087571 -0.00764964 0.99913496 0.34010434] [ 0. 0. 0. 1. ]] SLAMing on 84.88538474999999 meters Centerline goodness : 0.939016 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.51, Z:0.34 [[ 0.98955832 -0.13928728 0.03705923 5.56930259] [ 0.13876969 0.99019212 0.01620298 -0.51489773] [-0.03895263 -0.01089109 0.9991817 0.33776226] [ 0. 0. 0. 1. ]] SLAMing on 84.91538474999999 meters Centerline goodness : 0.937292 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.51, Z:0.34 [[ 0.9895317 -0.13964683 0.03641109 5.57138948] [ 0.13914171 0.9901421 0.01606863 -0.51467392] [-0.03829609 -0.01083412 0.9992077 0.3370402 ] [ 0. 0. 0. 1. ]] SLAMing on 84.94538474999999 meters Centerline goodness : 0.939715 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.52, Z:0.34 [[ 0.98934762 -0.14140703 0.03457363 5.57399643] [ 0.14098195 0.9899067 0.01445058 -0.51689264] [-0.03626808 -0.00942239 0.99929768 0.33936101] [ 0. 0. 0. 1. ]] SLAMing on 84.97538474999999 meters Centerline goodness : 0.943977 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.52, Z:0.34 [[ 0.98941024 -0.14121453 0.03355344 5.57507824] [ 0.14077223 0.98992517 0.01520975 -0.51814305] [-0.03536323 -0.01032529 0.99932118 0.34157896] [ 0. 0. 0. 1. ]] SLAMing on 85.00538474999999 meters Centerline goodness : 0.944342 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.52, Z:0.34 [[ 0.98943395 -0.14121251 0.0328555 5.57656381] [ 0.14078498 0.98992667 0.01499264 -0.51698934] [-0.03464168 -0.01020866 0.99934766 0.34123063] [ 0. 0. 0. 1. ]] SLAMing on 85.03538474999999 meters Centerline goodness : 0.942691 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.52, Z:0.34 [[ 0.9899395 -0.13807842 0.03088921 5.58011607] [ 0.13754699 0.99031825 0.01872423 -0.51623908] [-0.03317556 -0.01428714 0.99934742 0.34106401] [ 0. 0. 0. 1. ]] SLAMing on 85.06538474999999 meters Centerline goodness : 0.940462 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.52, Z:0.34 [[ 0.98992175 -0.13837572 0.03011773 5.58208324] [ 0.13785904 0.99027693 0.01861432 -0.515939 ] [-0.03240067 -0.01427472 0.99937302 0.34081933] [ 0. 0. 0. 1. ]] SLAMing on 85.09538475 meters Centerline goodness : 0.941981 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.52, Z:0.34 [[ 0.98990188 -0.13867514 0.02938485 5.58380808] [ 0.13817616 0.99023691 0.0183907 -0.51568544] [-0.03164829 -0.0141447 0.99939898 0.34074513] [ 0. 0. 0. 1. ]] SLAMing on 85.12538475 meters Centerline goodness : 0.941198 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.52, Z:0.34 [[ 0.98994322 -0.13856199 0.02851294 5.58582548] [ 0.13807148 0.99024916 0.01851679 -0.51520638] [-0.03080064 -0.01439375 0.9994219 0.34046081] [ 0. 0. 0. 1. ]] SLAMing on 85.15538475 meters Centerline goodness : 0.941496 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.98992919 -0.13879706 0.02784911 5.58753329] [ 0.13832542 0.99021938 0.01821152 -0.51435082] [-0.03010443 -0.01417587 0.99944623 0.34000825] [ 0. 0. 0. 1. ]] SLAMing on 85.18538475 meters Centerline goodness : 0.943210 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.99009945 -0.13772276 0.02712062 5.58773942] [ 0.13723908 0.99035642 0.01896288 -0.51430605] [-0.0294707 -0.01505313 0.99945229 0.34126941] [ 0. 0. 0. 1. ]] SLAMing on 85.21538475 meters Centerline goodness : 0.942113 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.99059819 -0.13445774 0.02522575 5.59039762] [ 0.13388666 0.99072708 0.02311307 -0.51396827] [-0.02809957 -0.01951837 0.99941455 0.34255592] [ 0. 0. 0. 1. ]] SLAMing on 85.24538474999999 meters Centerline goodness : 0.941532 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.99061073 -0.13445673 0.02473402 5.5913591 ] [ 0.1339069 0.99073409 0.02269159 -0.51248234] [-0.02755587 -0.01916647 0.9994365 0.34221685] [ 0. 0. 0. 1. ]] SLAMing on 85.27538474999999 meters Centerline goodness : 0.939837 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.99111657 -0.13096695 0.0231431 5.59312916] [ 0.13034812 0.99111437 0.02648913 -0.51174058] [-0.02640666 -0.02323716 0.99938117 0.34325325] [ 0. 0. 0. 1. ]] SLAMing on 85.30538474999999 meters Centerline goodness : 0.942221 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.99118967 -0.1305186 0.0225374 5.59377961] [ 0.1299113 0.99116904 0.02658922 -0.51055098] [-0.02580876 -0.02342709 0.99939236 0.3434837 ] [ 0. 0. 0. 1. ]] SLAMing on 85.33538474999999 meters Centerline goodness : 0.942886 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.51, Z:0.34 [[ 0.991234 -0.13029032 0.02189963 5.59490538] [ 0.12969675 0.99119579 0.02663941 -0.5096897 ] [-0.02517768 -0.02356558 0.9994052 0.34352094] [ 0. 0. 0. 1. ]] SLAMing on 85.36538474999999 meters Centerline goodness : 0.940845 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.51, Z:0.35 [[ 0.99206093 -0.12500603 0.01373329 5.60550106] [ 0.12469104 0.9919561 0.02179993 -0.51050834] [-0.01634795 -0.01991444 0.99966802 0.3477021 ] [ 0. 0. 0. 1. ]] SLAMing on 85.39538474999999 meters Centerline goodness : 0.940930 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.51, Z:0.35 [[ 0.99205274 -0.12517185 0.01278134 5.6072773 ] [ 0.12486652 0.99192056 0.02240441 -0.51303102] [-0.01548248 -0.02063039 0.99966728 0.34896543] [ 0. 0. 0. 1. ]] SLAMing on 85.42538474999999 meters Centerline goodness : 0.942700 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.51, Z:0.35 [[ 0.99200508 -0.12561411 0.01212526 5.60909065] [ 0.12532008 0.99186 0.02255249 -0.51388419] [-0.01485947 -0.02085264 0.99967213 0.34914931] [ 0. 0. 0. 1. ]] SLAMing on 85.45538475 meters Centerline goodness : 0.944501 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.51, Z:0.35 [[ 0.99150175 -0.12952513 0.01214565 5.61072536] [ 0.12928884 0.99143329 0.01855898 -0.51366143] [-0.01444545 -0.01683096 0.99975399 0.34828341] [ 0. 0. 0. 1. ]] SLAMing on 85.48538475 meters Centerline goodness : 0.943240 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.51, Z:0.35 [[ 0.99144314 -0.13005379 0.01124811 5.61344301] [ 0.12983279 0.99136243 0.01854691 -0.51387943] [-0.01356305 -0.01692783 0.99976472 0.3477713 ] [ 0. 0. 0. 1. ]] SLAMing on 85.51538475 meters Centerline goodness : 0.944153 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.51, Z:0.35 [[ 0.99132996 -0.13099538 0.01025308 5.61695596] [ 0.13079516 0.99124176 0.01823202 -0.51485219] [-0.01255159 -0.01673289 0.99978121 0.34674604] [ 0. 0. 0. 1. ]] SLAMing on 85.54538475 meters Centerline goodness : 0.946737 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.52, Z:0.35 [[ 0.99082501 -0.13475418 0.01034904 5.61733325] [ 0.13459436 0.99078963 0.01484126 -0.51606001] [-0.01225364 -0.01331217 0.9998363 0.34793879] [ 0. 0. 0. 1. ]] SLAMing on 85.57538475 meters Centerline goodness : 0.945541 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.51, Z:0.35 [[ 0.99023764 -0.13900881 0.01029404 5.61998169] [ 0.13890667 0.99025445 0.01005265 -0.51449022] [-0.01159112 -0.0085246 0.99989648 0.34552659] [ 0. 0. 0. 1. ]] SLAMing on 85.60538475 meters Centerline goodness : 0.941818 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.51, Z:0.34 [[ 0.99013184 -0.13981467 0.00952837 5.62306526] [ 0.13972682 0.99014606 0.00933814 -0.5140569 ] [-0.01074009 -0.00791462 0.999911 0.34390794] [ 0. 0. 0. 1. ]] SLAMing on 85.63538474999999 meters Centerline goodness : 0.939946 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.51, Z:0.34 [[ 0.99045468 -0.137634 0.00750998 5.62821715] [ 0.13753292 0.99041662 0.0126336 -0.51412508] [-0.00917682 -0.01148014 0.99989199 0.34274926] [ 0. 0. 0. 1. ]] SLAMing on 85.66538474999999 meters Centerline goodness : 0.940813 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.52, Z:0.35 [[ 9.91155668e-01 -1.32704137e-01 -2.33537334e-04 5.63769311e+00] [ 1.32701306e-01 9.91119551e-01 8.50874297e-03 -5.16626136e-01] [-8.97681973e-04 -8.46447953e-03 9.99963773e-01 3.47675459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69538474999999 meters Centerline goodness : 0.942554 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.52, Z:0.35 [[ 9.91101546e-01 -1.33102262e-01 -1.22994272e-03 5.63925161e+00] [ 1.33107943e-01 9.91058059e-01 9.28438277e-03 -5.19231887e-01] [-1.68277017e-05 -9.36548126e-03 9.99956143e-01 3.49813375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72538474999999 meters Centerline goodness : 0.943001 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.52, Z:0.35 [[ 9.91059429e-01 -1.33406321e-01 -1.99018005e-03 5.64103644e+00] [ 1.33419334e-01 9.91013721e-01 9.54385145e-03 -5.19917137e-01] [ 6.99085622e-04 -9.72405247e-03 9.99952476e-01 3.50300358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75538474999999 meters Centerline goodness : 0.942731 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.52, Z:0.35 [[ 9.91006705e-01 -1.33777590e-01 -3.04435547e-03 5.64388909e+00] [ 1.33801228e-01 9.90960449e-01 9.72727711e-03 -5.20192322e-01] [ 1.71554418e-03 -1.00471353e-02 9.99948055e-01 3.50024469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78538474999999 meters Centerline goodness : 0.942667 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.52, Z:0.35 [[ 9.90933493e-01 -1.34298688e-01 -3.83083915e-03 5.64635789e+00] [ 1.34330026e-01 9.90889768e-01 9.63907920e-03 -5.19920962e-01] [ 2.50142362e-03 -1.00662831e-02 9.99946205e-01 3.49531186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81538474999999 meters Centerline goodness : 0.941628 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.52, Z:0.35 [[ 9.90775324e-01 -1.35424591e-01 -4.94333598e-03 5.65023240e+00] [ 1.35467386e-01 9.90734318e-01 9.70048860e-03 -5.21485551e-01] [ 3.58384789e-03 -1.02806655e-02 9.99940730e-01 3.49066960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84538475 meters Centerline goodness : 0.939936 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.52, Z:0.35 [[ 9.90676330e-01 -1.36091930e-01 -6.27657023e-03 5.65356817e+00] [ 1.36149614e-01 9.90638590e-01 9.92307367e-03 -5.22608462e-01] [ 4.86736243e-03 -1.06851068e-02 9.99931066e-01 3.49419795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87538475 meters Centerline goodness : 0.941741 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.52, Z:0.35 [[ 0.9906437 -0.13628194 -0.00723201 5.65522847] [ 0.13635337 0.99060434 0.01052626 -0.52423741] [ 0.00572952 -0.01141389 0.99991844 0.35081082] [ 0. 0. 0. 1. ]] SLAMing on 85.90538475 meters Centerline goodness : 0.941223 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.53, Z:0.35 [[ 0.99061212 -0.13646051 -0.00813399 5.65693216] [ 0.13654565 0.9905723 0.01103637 -0.52525789] [ 0.00655127 -0.01204342 0.99990601 0.35182671] [ 0. 0. 0. 1. ]] SLAMing on 85.93538475 meters Centerline goodness : 0.942500 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.53, Z:0.35 [[ 0.99052959 -0.13700352 -0.0090093 5.65946634] [ 0.13710081 0.99049322 0.01124954 -0.52593976] [ 0.00738242 -0.01237818 0.99989613 0.35188945] [ 0. 0. 0. 1. ]] SLAMing on 85.96538475 meters Centerline goodness : 0.942411 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.53, Z:0.35 [[ 0.99050249 -0.13717751 -0.00933537 5.66062843] [ 0.13727912 0.99046809 0.0112873 -0.52635594] [ 0.00769802 -0.01246165 0.99989272 0.35158841] [ 0. 0. 0. 1. ]] SLAMing on 85.99538474999999 meters Centerline goodness : 0.946027 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.53, Z:0.35 [[ 0.98993982 -0.14117455 -0.00942923 5.66171197] [ 0.14125265 0.98993959 0.00820332 -0.52762975] [ 0.00817627 -0.0094527 0.99992189 0.35286742] [ 0. 0. 0. 1. ]] SLAMing on 86.02538474999999 meters Centerline goodness : 0.945300 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.53, Z:0.35 [[ 0.98987062 -0.14161458 -0.01007265 5.66333677] [ 0.14170093 0.98987348 0.00844569 -0.52854137] [ 0.00877462 -0.00978744 0.9999136 0.35329256] [ 0. 0. 0. 1. ]] SLAMing on 86.05538474999999 meters Centerline goodness : 0.942298 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.53, Z:0.35 [[ 0.989657 -0.14300216 -0.01137533 5.66810707] [ 0.14309333 0.98967966 0.007647 -0.52766102] [ 0.01016439 -0.00919564 0.99990606 0.35164355] [ 0. 0. 0. 1. ]] SLAMing on 86.08538474999999 meters Centerline goodness : 0.942738 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.53, Z:0.35 [[ 0.98951542 -0.1438939 -0.01240061 5.67125172] [ 0.14399305 0.98955021 0.00750848 -0.52813235] [ 0.0111906 -0.00921536 0.99989492 0.35141958] [ 0. 0. 0. 1. ]] SLAMing on 86.11538474999999 meters Centerline goodness : 0.942770 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.53, Z:0.35 [[ 0.98934639 -0.14494193 -0.01362178 5.67539478] [ 0.14504682 0.98939967 0.00705119 -0.52760796] [ 0.01245537 -0.00895187 0.99988236 0.35023674] [ 0. 0. 0. 1. ]] SLAMing on 86.14538474999999 meters Centerline goodness : 0.942310 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.53, Z:0.35 [[ 0.98928076 -0.14531817 -0.0143602 5.67707283] [ 0.14543171 0.98934209 0.00720062 -0.52817907] [ 0.01316077 -0.00921186 0.99987096 0.35066742] [ 0. 0. 0. 1. ]] SLAMing on 86.17538474999999 meters Centerline goodness : 0.943362 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.53, Z:0.35 [[ 0.98910318 -0.14637923 -0.01574845 5.68054434] [ 0.14651071 0.98918035 0.00754027 -0.52932458] [ 0.01447432 -0.00976542 0.99984755 0.35177941] [ 0. 0. 0. 1. ]] SLAMing on 86.20538475 meters Centerline goodness : 0.944360 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.53, Z:0.35 [[ 0.98897076 -0.14713276 -0.01699367 5.68330945] [ 0.14728542 0.98906083 0.00810399 -0.53124591] [ 0.01561541 -0.01051753 0.99982275 0.35330085] [ 0. 0. 0. 1. ]] SLAMing on 86.23538475 meters Centerline goodness : 0.943685 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.35 [[ 0.98888328 -0.14761305 -0.01789523 5.68534625] [ 0.14777897 0.98898536 0.00832649 -0.53164803] [ 0.01646902 -0.01087847 0.9998052 0.35399215] [ 0. 0. 0. 1. ]] SLAMing on 86.26538475 meters Centerline goodness : 0.945711 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.35 [[ 0.98876488 -0.14828439 -0.01886115 5.68754727] [ 0.1484621 0.98888249 0.00839161 -0.53166472] [ 0.01740711 -0.01109749 0.9997869 0.35469253] [ 0. 0. 0. 1. ]] SLAMing on 86.29538475 meters Centerline goodness : 0.946692 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.35 [[ 0.98865924 -0.14887859 -0.01969938 5.68989899] [ 0.14906173 0.98879412 0.00817214 -0.5302752 ] [ 0.01826198 -0.01101588 0.99977255 0.35446788] [ 0. 0. 0. 1. ]] SLAMing on 86.32538475 meters Centerline goodness : 0.945809 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.35 [[ 0.98861832 -0.14907098 -0.02028926 5.69119688] [ 0.14925976 0.98876465 0.00812342 -0.52946782] [ 0.01885034 -0.01105933 0.99976115 0.35456108] [ 0. 0. 0. 1. ]] SLAMing on 86.35538475 meters Centerline goodness : 0.944769 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.36 [[ 0.98861109 -0.14897775 -0.02130134 5.69229277] [ 0.14918175 0.98877476 0.0083232 -0.52847425] [ 0.01982226 -0.01140618 0.99973845 0.35586373] [ 0. 0. 0. 1. ]] SLAMing on 86.38538474999999 meters Centerline goodness : 0.945831 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.36 [[ 0.98859981 -0.14897243 -0.02185495 5.69309924] [ 0.14918592 0.98877282 0.00847791 -0.52790173] [ 0.02034661 -0.01164171 0.99972521 0.35648828] [ 0. 0. 0. 1. ]] SLAMing on 86.41538474999999 meters Centerline goodness : 0.945831 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.36 [[ 0.98859981 -0.14897243 -0.02185495 5.69309924] [ 0.14918592 0.98877282 0.00847791 -0.52790173] [ 0.02034661 -0.01164171 0.99972521 0.35648828] [ 0. 0. 0. 1. ]] SLAMing on 86.44538474999999 meters Centerline goodness : 0.947107 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.53, Z:0.36 [[ 0.98866115 -0.14849503 -0.02232391 5.69307108] [ 0.14871595 0.98884277 0.00857598 -0.52643933] [ 0.02080135 -0.01179866 0.99971401 0.35724267] [ 0. 0. 0. 1. ]] SLAMing on 86.47538474999999 meters Centerline goodness : 0.945420 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.52, Z:0.36 [[ 0.98863612 -0.14857598 -0.02288652 5.69415989] [ 0.14879678 0.98883332 0.00825759 -0.52470076] [ 0.02140407 -0.01156919 0.99970397 0.35701823] [ 0. 0. 0. 1. ]] SLAMing on 86.50538474999999 meters Centerline goodness : 0.946700 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.52, Z:0.36 [[ 0.98850374 -0.14930194 -0.02385976 5.69657001] [ 0.14952588 0.98872638 0.0078845 -0.52313247] [ 0.0224136 -0.01136151 0.99968422 0.35706887] [ 0. 0. 0. 1. ]] SLAMing on 86.53538474999999 meters Centerline goodness : 0.945819 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.52, Z:0.36 [[ 0.98841645 -0.14977591 -0.02449708 5.69842016] [ 0.1499967 0.98865859 0.00742809 -0.52158362] [ 0.0231067 -0.01101653 0.9996723 0.35660795] [ 0. 0. 0. 1. ]] SLAMing on 86.56538474999999 meters Centerline goodness : 0.939328 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.52, Z:0.36 [[ 0.98874284 -0.14724359 -0.02658811 5.70296973] [ 0.14755956 0.98899922 0.01033032 -0.51922761] [ 0.02477454 -0.01413736 0.9995931 0.35567544] [ 0. 0. 0. 1. ]] SLAMing on 86.59538475 meters Centerline goodness : 0.939708 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.52, Z:0.36 [[ 0.98874704 -0.14715334 -0.02692923 5.70360465] [ 0.14746977 0.98901441 0.010157 -0.51795545] [ 0.02513876 -0.01401396 0.99958574 0.35556299] [ 0. 0. 0. 1. ]] SLAMing on 86.62538475 meters Centerline goodness : 0.942330 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.52, Z:0.36 [[ 0.98871276 -0.14724136 -0.02769574 5.70466872] [ 0.1475782 0.98899436 0.01052779 -0.51790264] [ 0.02584081 -0.01449625 0.99956096 0.35681978] [ 0. 0. 0. 1. ]] SLAMing on 86.65538475 meters Centerline goodness : 0.944257 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.52, Z:0.36 [[ 0.98871436 -0.14713002 -0.02822554 5.70526893] [ 0.14748338 0.98900487 0.01086362 -0.51769321] [ 0.02631683 -0.01490381 0.99954255 0.35775447] [ 0. 0. 0. 1. ]] SLAMing on 86.68538475 meters Centerline goodness : 0.945412 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.52, Z:0.36 [[ 0.98849228 -0.14844312 -0.02911458 5.70744993] [ 0.14881298 0.98880456 0.0109652 -0.51822262] [ 0.02716092 -0.01517165 0.99951594 0.35942797] [ 0. 0. 0. 1. ]] SLAMing on 86.71538475 meters Centerline goodness : 0.946072 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.52, Z:0.36 [[ 0.98829983 -0.14952001 -0.03012012 5.71000072] [ 0.14989929 0.98864292 0.01074184 -0.51771874] [ 0.02817192 -0.01513114 0.99948856 0.36005151] [ 0. 0. 0. 1. ]] SLAMing on 86.74538474999999 meters Centerline goodness : 0.941658 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.51, Z:0.36 [[ 0.98809662 -0.15070585 -0.03086759 5.71334374] [ 0.15105277 0.9884827 0.00922024 -0.51424749] [ 0.02912254 -0.01377313 0.99948095 0.3577014 ] [ 0. 0. 0. 1. ]] SLAMing on 86.77538474999999 meters Centerline goodness : 0.941107 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.51, Z:0.36 [[ 0.98843617 -0.14807097 -0.03269456 5.71714481] [ 0.14855332 0.98882104 0.01283961 -0.51389879] [ 0.03042789 -0.01754802 0.99938291 0.3578535 ] [ 0. 0. 0. 1. ]] SLAMing on 86.80538474999999 meters Centerline goodness : 0.943605 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.52, Z:0.35 [[ 0.98956147 -0.14180744 -0.02566619 5.72562173] [ 0.14211759 0.98979213 0.01068311 -0.51785829] [ 0.02388925 -0.01421921 0.99961348 0.35284142] [ 0. 0. 0. 1. ]] SLAMing on 86.83538474999999 meters Centerline goodness : 0.944802 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.52, Z:0.35 [[ 0.98949834 -0.14207948 -0.02657941 5.72733943] [ 0.14241237 0.98974549 0.0110716 -0.51830499] [ 0.02473381 -0.01474057 0.99958539 0.35386546] [ 0. 0. 0. 1. ]] SLAMing on 86.86538474999999 meters Centerline goodness : 0.944989 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.52, Z:0.35 [[ 0.98946305 -0.14223362 -0.02706435 5.72848896] [ 0.14257558 0.98972117 0.01114517 -0.51801373] [ 0.02520094 -0.01488644 0.99957156 0.35401946] [ 0. 0. 0. 1. ]] SLAMing on 86.89538474999999 meters Centerline goodness : 0.944811 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.52, Z:0.35 [[ 0.98943466 -0.14233864 -0.02754565 5.72950894] [ 0.14268944 0.98970404 0.01120844 -0.51770274] [ 0.02566665 -0.0150205 0.99955771 0.35426204] [ 0. 0. 0. 1. ]] SLAMing on 86.92538474999999 meters Centerline goodness : 0.944919 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.52, Z:0.35 [[ 0.98944368 -0.14218065 -0.02803316 5.73018552] [ 0.14253461 0.98972813 0.01105046 -0.5159611 ] [ 0.02617405 -0.01492951 0.99954591 0.35425876] [ 0. 0. 0. 1. ]] SLAMing on 86.95538475 meters Centerline goodness : 0.943924 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.51, Z:0.35 [[ 0.98940509 -0.14236218 -0.02847056 5.73138539] [ 0.14271182 0.98970708 0.01064085 -0.51441927] [ 0.02666266 -0.01459119 0.99953799 0.3537194 ] [ 0. 0. 0. 1. ]] SLAMing on 86.98538475 meters Centerline goodness : 0.941280 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.51, Z:0.35 [[ 0.98977818 -0.1394341 -0.02995483 5.73411496] [ 0.13989785 0.99006728 0.0139778 -0.51348721] [ 0.02770831 -0.01802553 0.99945352 0.3537726 ] [ 0. 0. 0. 1. ]] SLAMing on 87.01538475 meters Centerline goodness : 0.942352 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.51, Z:0.35 [[ 0.98970662 -0.13979609 -0.03062434 5.73556903] [ 0.14025735 0.99002359 0.01346003 -0.5112081 ] [ 0.02843716 -0.01761677 0.99944033 0.35360668] [ 0. 0. 0. 1. ]] SLAMing on 87.04538475 meters Centerline goodness : 0.941038 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.51, Z:0.35 [[ 0.98958129 -0.14053509 -0.03128509 5.73766008] [ 0.14099605 0.98992428 0.01303972 -0.51012724] [ 0.02913733 -0.01731494 0.99942544 0.35333468] [ 0. 0. 0. 1. ]] SLAMing on 87.07538475 meters Centerline goodness : 0.939348 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.51, Z:0.35 [[ 0.98947908 -0.14110473 -0.03194703 5.73974531] [ 0.14156552 0.98984817 0.01264149 -0.50884646] [ 0.02983894 -0.01703109 0.99940962 0.3528259 ] [ 0. 0. 0. 1. ]] SLAMing on 87.10538475 meters Centerline goodness : 0.944441 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.51, Z:0.35 [[ 0.98890185 -0.14519381 -0.03149424 5.73931925] [ 0.14554395 0.98930981 0.0091133 -0.50858003] [ 0.02983436 -0.01359595 0.99946239 0.35413817] [ 0. 0. 0. 1. ]] SLAMing on 87.13538474999999 meters Centerline goodness : 0.945720 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.51, Z:0.35 [[ 0.98862499 -0.1468759 -0.03237429 5.74220659] [ 0.14722561 0.98906482 0.00868382 -0.50771686] [ 0.03074483 -0.01335137 0.99943809 0.35458829] [ 0. 0. 0. 1. ]] SLAMing on 87.16538474999999 meters Centerline goodness : 0.942523 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:0.35 [[ 0.98847764 -0.1476756 -0.03322468 5.74502085] [ 0.14802022 0.98895075 0.00815015 -0.50642529] [ 0.031654 -0.01297416 0.99941468 0.35377196] [ 0. 0. 0. 1. ]] SLAMing on 87.19538474999999 meters Centerline goodness : 0.942468 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:0.35 [[ 0.9883625 -0.14824862 -0.03408681 5.74739881] [ 0.1485991 0.98886536 0.00797526 -0.50575321] [ 0.03252495 -0.01294772 0.99938705 0.35359011] [ 0. 0. 0. 1. ]] SLAMing on 87.22538474999999 meters Centerline goodness : 0.942695 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:0.35 [[ 0.98828697 -0.14860399 -0.03472345 5.74893758] [ 0.14896352 0.98881039 0.00799294 -0.5054872 ] [ 0.03314712 -0.01307184 0.999365 0.35386957] [ 0. 0. 0. 1. ]] SLAMing on 87.25538474999999 meters Centerline goodness : 0.946420 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.98946606 -0.14207717 -0.0277667 5.75732852] [ 0.14236664 0.98977548 0.00873201 -0.50877431] [ 0.02624218 -0.01259308 0.99957629 0.349577 ] [ 0. 0. 0. 1. ]] SLAMing on 87.28538474999999 meters Centerline goodness : 0.947101 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.98948124 -0.14188289 -0.02821567 5.75727653] [ 0.14220198 0.98979078 0.00963363 -0.50959296] [ 0.02656076 -0.01354462 0.99955544 0.35169429] [ 0. 0. 0. 1. ]] SLAMing on 87.31538474999999 meters Centerline goodness : 0.947902 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.98944754 -0.14200894 -0.02875811 5.75830204] [ 0.1423389 0.98976985 0.00976079 -0.50958367] [ 0.02707779 -0.01375119 0.99953874 0.35219758] [ 0. 0. 0. 1. ]] SLAMing on 87.34538475 meters Centerline goodness : 0.945971 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.9893978 -0.14225195 -0.02926386 5.75969977] [ 0.14257672 0.9897399 0.00931744 -0.50796369] [ 0.02763819 -0.013391 0.99952829 0.35166362] [ 0. 0. 0. 1. ]] SLAMing on 87.37538475 meters Centerline goodness : 0.945025 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.98935614 -0.142428 -0.02981086 5.76092024] [ 0.14275393 0.98971642 0.00909547 -0.50671182] [ 0.02820885 -0.01325427 0.99951417 0.3515188 ] [ 0. 0. 0. 1. ]] SLAMing on 87.40538475 meters Centerline goodness : 0.945368 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.35 [[ 0.98925693 -0.14295566 -0.03056808 5.76279489] [ 0.14328592 0.98964141 0.00888993 -0.50589491] [ 0.02898058 -0.0131744 0.99949315 0.35173016] [ 0. 0. 0. 1. ]] SLAMing on 87.43538475 meters Centerline goodness : 0.946041 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.50, Z:0.35 [[ 0.98923454 -0.14303142 -0.03093608 5.76385389] [ 0.14335402 0.98963529 0.00846274 -0.5039533 ] [ 0.029405 -0.01280644 0.99948554 0.35101879] [ 0. 0. 0. 1. ]] SLAMing on 87.46538475 meters Centerline goodness : 0.944289 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98954206 -0.14053933 -0.03248409 5.76734602] [ 0.14098347 0.98994161 0.01180111 -0.50300445] [ 0.03049883 -0.01625741 0.99940258 0.35086158] [ 0. 0. 0. 1. ]] SLAMing on 87.49538474999999 meters Centerline goodness : 0.943123 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98946885 -0.14091797 -0.03306848 5.76908061] [ 0.1413532 0.98989583 0.01120326 -0.50131939] [ 0.03115561 -0.01575961 0.9993903 0.35012449] [ 0. 0. 0. 1. ]] SLAMing on 87.52538474999999 meters Centerline goodness : 0.941533 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98983238 -0.13798412 -0.03452891 5.77165848] [ 0.13855359 0.99024627 0.01467071 -0.50044716] [ 0.0321678 -0.01930564 0.99929601 0.35043784] [ 0. 0. 0. 1. ]] SLAMing on 87.55538474999999 meters Centerline goodness : 0.941536 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98987005 -0.13767984 -0.03466332 5.77127543] [ 0.13824927 0.99028995 0.01459319 -0.49942142] [ 0.03231755 -0.01923754 0.9992925 0.35075241] [ 0. 0. 0. 1. ]] SLAMing on 87.58538474999999 meters Centerline goodness : 0.942150 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.99001655 -0.13660022 -0.03475072 5.76974481] [ 0.13719074 0.99042792 0.01520647 -0.49872514] [ 0.03234087 -0.01982214 0.99928032 0.35216523] [ 0. 0. 0. 1. ]] SLAMing on 87.61538474999999 meters Centerline goodness : 0.942738 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.99000998 -0.13654107 -0.03516792 5.77016601] [ 0.13714356 0.99043271 0.01531936 -0.49824855] [ 0.03273974 -0.01998937 0.999264 0.35280076] [ 0. 0. 0. 1. ]] SLAMing on 87.64538474999999 meters Centerline goodness : 0.946298 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.99005951 -0.13608305 -0.03554662 5.76996954] [ 0.13671406 0.99048202 0.01595759 -0.49845841] [ 0.03303673 -0.02065869 0.99924061 0.35420762] [ 0. 0. 0. 1. ]] SLAMing on 87.67538474999999 meters Centerline goodness : 0.947891 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.99001913 -0.13625174 -0.03602214 5.77108187] [ 0.13689348 0.99045685 0.01598147 -0.49797162] [ 0.03350087 -0.02075316 0.9992232 0.35437634] [ 0. 0. 0. 1. ]] SLAMing on 87.70538475 meters Centerline goodness : 0.948747 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98950338 -0.14013917 -0.03527153 5.77085407] [ 0.14063753 0.98998774 0.01205651 -0.49771266] [ 0.0332288 -0.01689046 0.99930504 0.35390539] [ 0. 0. 0. 1. ]] SLAMing on 87.73538475 meters Centerline goodness : 0.949890 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:0.35 [[ 0.98929567 -0.14135542 -0.03623156 5.77405224] [ 0.14186104 0.98981656 0.01177365 -0.49794652] [ 0.03419833 -0.01678747 0.99927406 0.35372201] [ 0. 0. 0. 1. ]] SLAMing on 87.76538475 meters Centerline goodness : 0.946003 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:0.35 [[ 0.98887902 -0.14403692 -0.03703592 5.77949726] [ 0.14450815 0.98944933 0.01036425 -0.4976899 ] [ 0.03515233 -0.01560098 0.99926019 0.35135259] [ 0. 0. 0. 1. ]] SLAMing on 87.79538475 meters Centerline goodness : 0.946058 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:0.35 [[ 0.98866534 -0.14523357 -0.03805324 5.78311578] [ 0.14570723 0.98927752 0.00996981 -0.49773776] [ 0.03619726 -0.01540143 0.99922598 0.35073992] [ 0. 0. 0. 1. ]] SLAMing on 87.82538475 meters Centerline goodness : 0.945933 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:0.35 [[ 0.98801848 -0.14963456 -0.03780191 5.78478746] [ 0.14996834 0.98867175 0.00613817 -0.49914274] [ 0.03645519 -0.01173371 0.9992664 0.35019148] [ 0. 0. 0. 1. ]] SLAMing on 87.85538475 meters Centerline goodness : 0.947573 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.50, Z:0.35 [[ 0.98787574 -0.15034507 -0.03870258 5.78685882] [ 0.15070328 0.98855771 0.00649394 -0.50040106] [ 0.0372834 -0.01224781 0.99922967 0.3513499 ] [ 0. 0. 0. 1. ]] SLAMing on 87.88538474999999 meters Centerline goodness : 0.947849 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.50, Z:0.35 [[ 0.98777021 -0.15086117 -0.03938175 5.78885976] [ 0.15123575 0.98847505 0.0066951 -0.50116897] [ 0.03791785 -0.01256915 0.99920181 0.35166362] [ 0. 0. 0. 1. ]] SLAMing on 87.91538474999999 meters Centerline goodness : 0.948598 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.50, Z:0.35 [[ 9.87813534e-01 -1.50202124e-01 -4.07890107e-02 5.79214923e+00] [ 1.50507558e-01 9.88598590e-01 4.50598288e-03 -4.99343506e-01] [ 3.96471503e-02 -1.05901253e-02 9.99157622e-01 3.50666910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94538474999999 meters Centerline goodness : 0.948422 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.50, Z:0.35 [[ 9.87789329e-01 -1.50229316e-01 -4.12722071e-02 5.79312334e+00] [ 1.50554835e-01 9.88589626e-01 4.87775594e-03 -4.99946924e-01] [ 4.00684939e-02 -1.10319256e-02 9.99136033e-01 3.51204270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97538474999999 meters Centerline goodness : 0.949948 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.50, Z:0.35 [[ 9.87129533e-01 -1.54460854e-01 -4.14382684e-02 5.79588798e+00] [ 1.54520245e-01 9.87988010e-01 -1.78517430e-03 -4.98804571e-01] [ 4.12162519e-02 -4.64085313e-03 9.99139471e-01 3.49675719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00538474999999 meters Centerline goodness : 0.950751 Centerline is valid? [False, True] Translation: X:5.80, Y:-0.50, Z:0.35 [[ 9.86927921e-01 -1.55845590e-01 -4.10539921e-02 5.79567353e+00] [ 1.55838395e-01 9.87776730e-01 -3.39513560e-03 -5.00365449e-01] [ 4.10812950e-02 -3.04703412e-03 9.99151161e-01 3.49864024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03538474999999 meters Centerline goodness : 0.952201 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.50, Z:0.35 [[ 9.86701730e-01 -1.57409823e-01 -4.05196620e-02 5.82346376e+00] [ 1.57269341e-01 9.87533347e-01 -6.65153490e-03 -4.95290202e-01] [ 4.10615344e-02 1.90580426e-04 9.99156601e-01 3.48178454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06538474999999 meters Centerline goodness : 0.950336 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.49, Z:0.35 [[ 9.86494647e-01 -1.58702906e-01 -4.05178797e-02 5.85239005e+00] [ 1.58563069e-01 9.87326373e-01 -6.66237436e-03 -4.90026859e-01] [ 4.10617094e-02 1.47757286e-04 9.99156601e-01 3.47455630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09538475 meters Centerline goodness : 0.951826 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.49, Z:0.35 [[ 9.85897965e-01 -1.62368806e-01 -4.05163296e-02 5.88033513e+00] [ 1.62231675e-01 9.86730141e-01 -6.67178784e-03 -4.86494572e-01] [ 4.10619738e-02 4.67004256e-06 9.99156601e-01 3.49433402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12538475 meters Centerline goodness : 0.947978 Centerline is valid? [True, False] Translation: X:5.88, Y:-0.49, Z:0.35 [[ 9.85925236e-01 -1.62119468e-01 -4.08498022e-02 5.88233187e+00] [ 1.62012814e-01 9.86770836e-01 -5.93003782e-03 -4.89306055e-01] [ 4.12707681e-02 -7.71617460e-04 9.99147701e-01 3.47593816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15538475 meters Centerline goodness : 0.946937 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.49, Z:0.35 [[ 9.85594267e-01 -1.63542885e-01 -4.31006551e-02 5.88801942e+00] [ 1.63391156e-01 9.86536221e-01 -7.04380107e-03 -4.88798548e-01] [ 4.36723209e-02 -9.99359339e-05 9.99045904e-01 3.46481754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18538475 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.49, Z:0.34 [[ 9.87124335e-01 -1.56104394e-01 -3.48850308e-02 5.89437671e+00] [ 1.56091382e-01 9.87737713e-01 -3.11293651e-03 -4.93907611e-01] [ 3.49432036e-02 -2.37239730e-03 9.99386484e-01 3.42498790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21538475 meters Centerline goodness : 0.946551 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.50, Z:0.34 [[ 9.88459354e-01 -1.48882851e-01 -2.79643059e-02 5.90223042e+00] [ 1.48960967e-01 9.88842815e-01 7.19617094e-04 -4.97412414e-01] [ 2.75451643e-02 -4.87690230e-03 9.99608663e-01 3.39868303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24538474999999 meters Centerline goodness : 0.946006 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.50, Z:0.34 [[ 9.89607693e-01 -1.42178421e-01 -2.14920865e-02 5.91063117e+00] [ 1.42234105e-01 9.89832460e-01 1.07707124e-03 -4.99965949e-01] [ 2.11204286e-02 -4.12278569e-03 9.99768438e-01 3.35813290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27538474999999 meters Centerline goodness : 0.948689 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.50, Z:0.33 [[ 9.90775419e-01 -1.34837840e-01 -1.35213316e-02 5.91813581e+00] [ 1.34848947e-01 9.90866163e-01 -9.10588692e-05 -5.02052927e-01] [ 1.34101081e-02 -1.73311843e-03 9.99908578e-01 3.29722717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30538474999999 meters Centerline goodness : 0.948689 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.50, Z:0.33 [[ 9.90775419e-01 -1.34837840e-01 -1.35213316e-02 5.91813581e+00] [ 1.34848947e-01 9.90866163e-01 -9.10588692e-05 -5.02052927e-01] [ 1.34101081e-02 -1.73311843e-03 9.99908578e-01 3.29722717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33538474999999 meters Centerline goodness : 0.951883 Centerline is valid? [False, True] Translation: X:5.92, Y:-0.50, Z:0.33 [[ 9.91266073e-01 -1.31062486e-01 -1.46354959e-02 5.91845487e+00] [ 1.31140535e-01 9.91353562e-01 4.50279328e-03 -5.02187529e-01] [ 1.39188037e-02 -6.38277297e-03 9.99882757e-01 3.32065336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36538474999999 meters Centerline goodness : 0.952586 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.50, Z:0.33 [[ 9.91446456e-01 -1.29782020e-01 -1.38040829e-02 5.94617489e+00] [ 1.29769304e-01 9.91542549e-01 -1.81672569e-03 -4.95215426e-01] [ 1.39231139e-02 9.84001201e-06 9.99903069e-01 3.27608238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39538474999999 meters Centerline goodness : 0.950518 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.49, Z:0.33 [[ 9.91854352e-01 -1.26626998e-01 -1.38039305e-02 5.97295234e+00] [ 1.26613960e-01 9.91950402e-01 -1.81788298e-03 -4.90604634e-01] [ 1.39230075e-02 5.53048398e-05 9.99903069e-01 3.25310601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42538474999999 meters Centerline goodness : 0.952933 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.49, Z:0.33 [[ 9.92056103e-01 -1.25036577e-01 -1.38037209e-02 6.00151812e+00] [ 1.25023363e-01 9.92152130e-01 -1.81947330e-03 -4.86194201e-01] [ 1.39228918e-02 7.92319910e-05 9.99903069e-01 3.28497279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45538475 meters Centerline goodness : 0.952650 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.48, Z:0.33 [[ 9.92210679e-01 -1.23804025e-01 -1.38033032e-02 6.02796520e+00] [ 1.23790648e-01 9.92306683e-01 -1.82263654e-03 -4.82183782e-01] [ 1.39227597e-02 9.97195979e-05 9.99903069e-01 3.27921471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48538475 meters Centerline goodness : 0.951400 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.48, Z:0.33 [[ 9.92201169e-01 -1.23880244e-01 -1.38030952e-02 6.05668251e+00] [ 1.23866853e-01 9.92297171e-01 -1.82421034e-03 -4.77864429e-01] [ 1.39227559e-02 1.00237674e-04 9.99903069e-01 3.28028555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51538475 meters Centerline goodness : 0.951926 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.47, Z:0.33 [[ 9.92131030e-01 -1.24440771e-01 -1.38026820e-02 6.08532321e+00] [ 1.24427390e-01 9.92227033e-01 -1.82733116e-03 -4.73468711e-01] [ 1.39227887e-02 9.55202430e-05 9.99903069e-01 3.29969653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54538475 meters Centerline goodness : 0.949997 Centerline is valid? [True, False] Translation: X:6.09, Y:-0.48, Z:0.33 [[ 9.92406829e-01 -1.22050888e-01 -1.52402852e-02 6.08876601e+00] [ 1.22098250e-01 9.92515551e-01 2.21337851e-03 -4.75031053e-01] [ 1.48560752e-02 -4.05738410e-03 9.99881410e-01 3.30470639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57538475 meters Centerline goodness : 0.950136 Centerline is valid? [False, True] Translation: X:6.09, Y:-0.47, Z:0.33 [[ 9.92394944e-01 -1.22092723e-01 -1.56729848e-02 6.08975418e+00] [ 1.22145157e-01 9.92509274e-01 2.42943249e-03 -4.74991955e-01] [ 1.52589667e-02 -4.32533571e-03 9.99874220e-01 3.30638117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60538475 meters Centerline goodness : 0.952786 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.47, Z:0.33 [[ 9.92443650e-01 -1.21768529e-01 -1.51005626e-02 6.11784788e+00] [ 1.21752698e-01 9.92558518e-01 -1.96674753e-03 -4.70589489e-01] [ 1.52276800e-02 1.13351867e-04 9.99884046e-01 3.30093632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63538474999999 meters Centerline goodness : 0.949663 Centerline is valid? [True, False] Translation: X:6.12, Y:-0.47, Z:0.33 [[ 9.92468004e-01 -1.21512448e-01 -1.55559270e-02 6.11820140e+00] [ 1.21506661e-01 9.92589738e-01 -1.32017387e-03 -4.71073591e-01] [ 1.56010711e-02 -5.79918421e-04 9.99878128e-01 3.31234065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66538474999999 meters Centerline goodness : 0.951700 Centerline is valid? [False, True] Translation: X:6.12, Y:-0.47, Z:0.33 [[ 9.92489993e-01 -1.21237413e-01 -1.62820069e-02 6.11902357e+00] [ 1.21241950e-01 9.92622729e-01 -7.11793929e-04 -4.71911311e-01] [ 1.62481862e-02 -1.26761393e-03 9.99867186e-01 3.32460328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69538474999999 meters Centerline goodness : 0.952935 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.47, Z:0.34 [[ 9.92525997e-01 -1.20966652e-01 -1.61001129e-02 6.14768112e+00] [ 1.20948437e-01 9.92656562e-01 -2.10387789e-03 -4.67885074e-01] [ 1.62363817e-02 1.40870017e-04 9.99868171e-01 3.35546758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72538474999999 meters Centerline goodness : 0.950384 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.46, Z:0.33 [[ 9.92638667e-01 -1.20038662e-01 -1.60995883e-02 6.17664825e+00] [ 1.20020260e-01 9.92769205e-01 -2.10788481e-03 -4.63841881e-01] [ 1.62362031e-02 1.60091204e-04 9.99868171e-01 3.34855352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75538474999999 meters Centerline goodness : 0.949098 Centerline is valid? [True, False] Translation: X:6.18, Y:-0.46, Z:0.34 [[ 9.92677855e-01 -1.19649005e-01 -1.65768723e-02 6.17685724e+00] [ 1.19640931e-01 9.92816122e-01 -1.48143523e-03 -4.64129571e-01] [ 1.66350383e-02 -5.12684496e-04 9.99861497e-01 3.36022439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78538474999999 meters Centerline goodness : 0.948322 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.46, Z:0.34 [[ 9.92714074e-01 -1.19303669e-01 -1.68938378e-02 6.17695366e+00] [ 1.19305318e-01 9.92857193e-01 -9.13763143e-04 -4.64417616e-01] [ 1.68821837e-02 -1.10841917e-03 9.99856871e-01 3.36883859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81538474999999 meters Centerline goodness : 0.950774 Centerline is valid? [False, True] Translation: X:6.18, Y:-0.46, Z:0.34 [[ 9.92742876e-01 -1.19028555e-01 -1.71401478e-02 6.17715491e+00] [ 1.19035991e-01 9.92889765e-01 -5.89367329e-04 -4.64207725e-01] [ 1.70884288e-02 -1.45520426e-03 9.99852923e-01 3.37316569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84538475 meters Centerline goodness : 0.950707 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.46, Z:0.34 [[ 9.92936834e-01 -1.17430733e-01 -1.69253078e-02 6.20427776e+00] [ 1.17409874e-01 9.93081051e-01 -2.22431252e-03 -4.58946212e-01] [ 1.70694051e-02 2.21403577e-04 9.99854283e-01 3.36070168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87538475 meters Centerline goodness : 0.949281 Centerline is valid? [True, False] Translation: X:6.20, Y:-0.46, Z:0.34 [[ 9.93006722e-01 -1.16830320e-01 -1.69801957e-02 6.20365534e+00] [ 1.16817657e-01 9.93151857e-01 -1.73916398e-03 -4.58539981e-01] [ 1.70671000e-02 -2.56585148e-04 9.99854314e-01 3.36755189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90538475 meters Centerline goodness : 0.951680 Centerline is valid? [False, True] Translation: X:6.20, Y:-0.46, Z:0.34 [[ 9.93430750e-01 -1.13007793e-01 -1.80162295e-02 6.20450597e+00] [ 1.13078386e-01 9.93581704e-01 2.94567665e-03 -4.59005470e-01] [ 1.75677116e-02 -4.96357191e-03 9.99833355e-01 3.38363643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters Centerline goodness : 0.950344 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.45, Z:0.34 [[ 9.93420404e-01 -1.13204857e-01 -1.73367005e-02 6.23250570e+00] [ 1.13182602e-01 9.93571627e-01 -2.26270197e-03 -4.52972331e-01] [ 1.74814025e-02 2.85601432e-04 9.99847148e-01 3.37047587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96538475 meters Centerline goodness : 0.950968 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.45, Z:0.34 [[ 9.93064352e-01 -1.16286939e-01 -1.73361273e-02 6.26044603e+00] [ 1.16265077e-01 9.93215632e-01 -2.26708520e-03 -4.52322664e-01] [ 1.74821450e-02 2.35775323e-04 9.99847148e-01 3.35997612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99538474999999 meters Centerline goodness : 0.950468 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.45, Z:0.34 [[ 9.92911637e-01 -1.17583804e-01 -1.73358212e-02 6.28955888e+00] [ 1.17562099e-01 9.93062940e-01 -2.26942313e-03 -4.47956104e-01] [ 1.74824090e-02 2.15301109e-04 9.99847148e-01 3.37754914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02538474999999 meters Centerline goodness : 0.947434 Centerline is valid? [True, False] Translation: X:6.28, Y:-0.45, Z:0.34 [[ 0.99274727 -0.11774551 -0.02426616 6.27839088] [ 0.1179732 0.99298316 0.0081705 -0.45209943] [ 0.02313385 -0.010974 0.99967214 0.34288548] [ 0. 0. 0. 1. ]] SLAMing on 89.05538474999999 meters Centerline goodness : 0.946212 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.45, Z:0.34 [[ 0.99263343 -0.11852915 -0.02509403 6.28087857] [ 0.11876736 0.99288808 0.00822004 -0.45237337] [ 0.02394125 -0.01113984 0.9996513 0.34303246] [ 0. 0. 0. 1. ]] SLAMing on 89.08538474999999 meters Centerline goodness : 0.946687 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.45, Z:0.34 [[ 0.99244236 -0.11986847 -0.02626248 6.28410815] [ 0.12012168 0.99272464 0.00828036 -0.45310265] [ 0.02507886 -0.01137247 0.99962079 0.34397923] [ 0. 0. 0. 1. ]] SLAMing on 89.11538474999999 meters Centerline goodness : 0.945187 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.34 [[ 0.99240692 -0.12001053 -0.02694389 6.28579728] [ 0.12026927 0.99270751 0.00819109 -0.45235103] [ 0.02576439 -0.01136942 0.99960339 0.34371094] [ 0. 0. 0. 1. ]] SLAMing on 89.14538474999999 meters Centerline goodness : 0.942748 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.34 [[ 0.99239559 -0.11999715 -0.0274167 6.2870057 ] [ 0.12025773 0.99271002 0.0080559 -0.45162133] [ 0.02625014 -0.01129171 0.99959163 0.34328118] [ 0. 0. 0. 1. ]] SLAMing on 89.17538474999999 meters Centerline goodness : 0.943055 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.34 [[ 0.9923948 -0.11993172 -0.02772986 6.28760645] [ 0.12020155 0.99271505 0.00827187 -0.45136418] [ 0.02653579 -0.01154214 0.99958123 0.34356543] [ 0. 0. 0. 1. ]] SLAMing on 89.20538475 meters Centerline goodness : 0.941605 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.34 [[ 0.99240547 -0.11973011 -0.02821503 6.28812908] [ 0.12001882 0.99273292 0.00876553 -0.4517456 ] [ 0.0269605 -0.01208529 0.99956344 0.34453591] [ 0. 0. 0. 1. ]] SLAMing on 89.23538475 meters Centerline goodness : 0.943278 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.35 [[ 0.99241487 -0.11952888 -0.02873262 6.28862376] [ 0.11983944 0.9927494 0.00933473 -0.45227168] [ 0.02740852 -0.01270722 0.99954355 0.3456576 ] [ 0. 0. 0. 1. ]] SLAMing on 89.26538475 meters Centerline goodness : 0.946067 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.35 [[ 9.91862397e-01 -1.24026661e-01 -2.87467099e-02 6.28956128e+00] [ 1.24251473e-01 9.92231615e-01 6.16381693e-03 -4.54001573e-01] [ 2.77589167e-02 -9.68547928e-03 9.99567724e-01 3.47313659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29538475 meters Centerline goodness : 0.947448 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.45, Z:0.35 [[ 0.99176419 -0.12463374 -0.02949949 6.29149621] [ 0.12487289 0.9921521 0.00640131 -0.45434082] [ 0.02847016 -0.01003228 0.9995443 0.34786224] [ 0. 0. 0. 1. ]] SLAMing on 89.32538475 meters Centerline goodness : 0.944446 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.45, Z:0.35 [[ 0.9919075 -0.1230952 -0.0310978 6.29715113] [ 0.12344277 0.99230614 0.00950829 -0.45430699] [ 0.02968811 -0.01327014 0.99947112 0.34632284] [ 0. 0. 0. 1. ]] SLAMing on 89.35538475 meters Centerline goodness : 0.943160 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.45, Z:0.35 [[ 0.99192226 -0.12291154 -0.03135243 6.29775869] [ 0.12326234 0.9923286 0.00950554 -0.45368294] [ 0.02994357 -0.01329333 0.99946319 0.34603549] [ 0. 0. 0. 1. ]] SLAMing on 89.38538474999999 meters Centerline goodness : 0.946285 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.9918781 -0.12315706 -0.0317832 6.29805399] [ 0.1235427 0.99228411 0.01046148 -0.45639187] [ 0.03024956 -0.0143031 0.99944004 0.34831474] [ 0. 0. 0. 1. ]] SLAMing on 89.41538474999999 meters Centerline goodness : 0.947024 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99183627 -0.1233559 -0.03231317 6.29919774] [ 0.1237556 0.99225538 0.01066858 -0.4566225 ] [ 0.03074688 -0.01458042 0.99942085 0.34886771] [ 0. 0. 0. 1. ]] SLAMing on 89.44538474999999 meters Centerline goodness : 0.944184 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99182044 -0.12338527 -0.03268467 6.30035137] [ 0.12377993 0.9922559 0.01033196 -0.45589755] [ 0.03115674 -0.01429315 0.99941231 0.34804503] [ 0. 0. 0. 1. ]] SLAMing on 89.47538474999999 meters Centerline goodness : 0.941015 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99177382 -0.12355752 -0.03343994 6.30258442] [ 0.12395616 0.99223614 0.01011479 -0.45577996] [ 0.03193056 -0.01417667 0.99938954 0.34724103] [ 0. 0. 0. 1. ]] SLAMing on 89.50538474999999 meters Centerline goodness : 0.942092 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99181579 -0.12322791 -0.03341138 6.3023404 ] [ 0.12363411 0.9922737 0.01036909 -0.45579807] [ 0.03187547 -0.01441501 0.99938789 0.34738999] [ 0. 0. 0. 1. ]] SLAMing on 89.53538474999999 meters Centerline goodness : 0.942114 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.9918169 -0.12312533 -0.03375478 6.30278803] [ 0.12354224 0.99228324 0.01054916 -0.45534171] [ 0.03219544 -0.01463298 0.99937447 0.34784806] [ 0. 0. 0. 1. ]] SLAMing on 89.56538474999999 meters Centerline goodness : 0.944330 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99180864 -0.1230561 -0.03424653 6.30333594] [ 0.12349166 0.99228575 0.01089962 -0.45528962] [ 0.03264108 -0.0150395 0.99935398 0.34877148] [ 0. 0. 0. 1. ]] SLAMing on 89.59538475 meters Centerline goodness : 0.946071 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.9917947 -0.12305722 -0.03464375 6.3035382 ] [ 0.1235176 0.99227609 0.01146997 -0.45608288] [ 0.0329647 -0.01565497 0.9993339 0.35032141] [ 0. 0. 0. 1. ]] SLAMing on 89.62538475 meters Centerline goodness : 0.946483 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.46, Z:0.35 [[ 0.99171161 -0.12351763 -0.03537621 6.30453771] [ 0.12400075 0.99221201 0.01179618 -0.45605368] [ 0.03364366 -0.01608508 0.99930445 0.35189897] [ 0. 0. 0. 1. ]] SLAMing on 89.65538475 meters Centerline goodness : 0.948129 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.46, Z:0.35 [[ 0.99164976 -0.12384067 -0.03597567 6.30613929] [ 0.12432759 0.99217318 0.01162003 -0.4552674 ] [ 0.03425506 -0.01599576 0.99928511 0.35171024] [ 0. 0. 0. 1. ]] SLAMing on 89.68538475 meters Centerline goodness : 0.947401 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.46, Z:0.35 [[ 0.99152208 -0.124631 -0.03675715 6.30813596] [ 0.12513494 0.99207033 0.01173489 -0.45536989] [ 0.03500315 -0.01623501 0.99925532 0.35244458] [ 0. 0. 0. 1. ]] SLAMing on 89.71538475 meters Centerline goodness : 0.949446 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99145801 -0.12501715 -0.03717159 6.30981258] [ 0.12550801 0.99202973 0.01116963 -0.45381571] [ 0.03547892 -0.01573955 0.99924647 0.35133804] [ 0. 0. 0. 1. ]] SLAMing on 89.74538474999999 meters Centerline goodness : 0.945932 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99143454 -0.12505092 -0.03768038 6.31111195] [ 0.12554947 0.99202459 0.01115945 -0.45343495] [ 0.03598437 -0.01579462 0.99922753 0.35115602] [ 0. 0. 0. 1. ]] SLAMing on 89.77538474999999 meters Centerline goodness : 0.944723 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99139957 -0.12515754 -0.03824241 6.31209331] [ 0.12566633 0.99200941 0.01119408 -0.45331252] [ 0.03653581 -0.01590359 0.99920579 0.35165786] [ 0. 0. 0. 1. ]] SLAMing on 89.80538474999999 meters Centerline goodness : 0.947390 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99144187 -0.12472739 -0.03855 6.3119662 ] [ 0.12524719 0.99206045 0.01136704 -0.45250815] [ 0.03682615 -0.01609804 0.99919202 0.35233472] [ 0. 0. 0. 1. ]] SLAMing on 89.83538474999999 meters Centerline goodness : 0.946426 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99144503 -0.12458566 -0.03892513 6.31239822] [ 0.12511406 0.99207644 0.01143761 -0.45153544] [ 0.03719174 -0.01620984 0.99917667 0.35267229] [ 0. 0. 0. 1. ]] SLAMing on 89.86538474999999 meters Centerline goodness : 0.949707 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99183052 -0.12107592 -0.04016021 6.31388698] [ 0.12177865 0.99243577 0.0155305 -0.45144221] [ 0.03797606 -0.02029428 0.99907255 0.35379315] [ 0. 0. 0. 1. ]] SLAMing on 89.89538474999999 meters Centerline goodness : 0.949130 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99184836 -0.12086279 -0.04036101 6.31395389] [ 0.12156825 0.99246207 0.01549856 -0.45035989] [ 0.03818358 -0.02027884 0.99906495 0.35398374] [ 0. 0. 0. 1. ]] SLAMing on 89.92538474999999 meters Centerline goodness : 0.950259 Centerline is valid? [False, True] Translation: X:6.31, Y:-0.45, Z:0.35 [[ 0.99183491 -0.12080297 -0.04086741 6.31437116] [ 0.12151471 0.99247023 0.01539544 -0.44903021] [ 0.03869988 -0.02023573 0.99904596 0.35462767] [ 0. 0. 0. 1. ]] SLAMing on 89.95538475 meters Centerline goodness : 0.949279 Centerline is valid? [True, False] Translation: X:6.32, Y:-0.45, Z:0.36 [[ 0.99176142 -0.12121097 -0.04143902 6.31552072] [ 0.12193394 0.99241906 0.01537917 -0.44938744] [ 0.03926075 -0.02030529 0.99902267 0.35523193] [ 0. 0. 0. 1. ]] SLAMing on 89.98538475 meters Centerline goodness : 0.948902 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.45, Z:0.35 [[ 0.99169692 -0.12156161 -0.04195221 6.31743861] [ 0.12226488 0.99238987 0.01461657 -0.44754709] [ 0.03985614 -0.01962449 0.9990127 0.35384748] [ 0. 0. 0. 1. ]] SLAMing on 90.01538475 meters Centerline goodness : 0.946607 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.45, Z:0.35 [[ 0.99164836 -0.12184919 -0.04226466 6.31880858] [ 0.12254497 0.99236033 0.01427253 -0.44652225] [ 0.04020267 -0.01933265 0.9990045 0.35301929] [ 0. 0. 0. 1. ]] SLAMing on 90.04538475 meters Centerline goodness : 0.949756 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.45, Z:0.35 [[ 0.99165256 -0.12167638 -0.04266207 6.31934931] [ 0.12239969 0.99237107 0.01476374 -0.44715826] [ 0.04054021 -0.01986232 0.99898047 0.35374825] [ 0. 0. 0. 1. ]] SLAMing on 90.07538475 meters Centerline goodness : 0.951082 Centerline is valid? [False, True] Translation: X:6.32, Y:-0.45, Z:0.35 [[ 0.99162888 -0.12173126 -0.04305416 6.31997377] [ 0.12247796 0.9923557 0.01514323 -0.44797183] [ 0.04088164 -0.02028965 0.99895797 0.35453741] [ 0. 0. 0. 1. ]] SLAMing on 90.10538475 meters Centerline goodness : 0.951447 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.44, Z:0.34 [[ 9.91482819e-01 -1.23813098e-01 -4.03996991e-02 6.34765949e+00] [ 1.23701078e-01 9.92305530e-01 -5.27052498e-03 -4.38542371e-01] [ 4.07414049e-02 2.28148627e-04 9.99169698e-01 3.42065353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters Centerline goodness : 0.952783 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.44, Z:0.34 [[ 9.91309565e-01 -1.25192844e-01 -4.03992448e-02 6.37588509e+00] [ 1.25081828e-01 9.92132411e-01 -5.27400499e-03 -4.35187268e-01] [ 4.07416678e-02 1.74960201e-04 9.99169698e-01 3.42949197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16538474999999 meters Centerline goodness : 0.946997 Centerline is valid? [True, False] Translation: X:6.38, Y:-0.44, Z:0.34 [[ 9.91189973e-01 -1.25883667e-01 -4.11793622e-02 6.37896223e+00] [ 1.25768366e-01 9.92044997e-01 -5.38906778e-03 -4.35469329e-01] [ 4.15301759e-02 1.62528836e-04 9.99137237e-01 3.41962386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters Centerline goodness : 0.947024 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.44, Z:0.34 [[ 9.91426729e-01 -1.23411617e-01 -4.29256870e-02 6.38275945e+00] [ 1.23473311e-01 9.92347142e-01 -1.22129722e-03 -4.37332833e-01] [ 4.27479051e-02 -4.08934998e-03 9.99077521e-01 3.42940357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22538474999999 meters Centerline goodness : 0.947024 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.44, Z:0.34 [[ 9.91426729e-01 -1.23411617e-01 -4.29256870e-02 6.38275945e+00] [ 1.23473311e-01 9.92347142e-01 -1.22129722e-03 -4.37332833e-01] [ 4.27479051e-02 -4.08934998e-03 9.99077521e-01 3.42940357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters Centerline goodness : 0.944870 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.34 [[ 9.91688383e-01 -1.20676614e-01 -4.46240592e-02 6.38615514e+00] [ 1.20929427e-01 9.92656574e-01 3.00003671e-03 -4.38967362e-01] [ 4.39343315e-02 -8.37146345e-03 9.98999346e-01 3.44114827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28538474999999 meters Centerline goodness : 0.946360 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.34 [[ 9.91694766e-01 -1.20469672e-01 -4.50394085e-02 6.38660230e+00] [ 1.20745346e-01 9.92677551e-01 3.44117179e-03 -4.38976777e-01] [ 4.42950529e-02 -8.85089101e-03 9.98979284e-01 3.44875846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters Centerline goodness : 0.944383 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99203945 -0.11696684 -0.04665279 6.38838647] [ 0.11746092 0.99304541 0.00798413 -0.44046944] [ 0.04539446 -0.01340045 0.99887926 0.34714494] [ 0. 0. 0. 1. ]] SLAMing on 90.34538475 meters Centerline goodness : 0.944412 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99204282 -0.1168069 -0.04698069 6.38864048] [ 0.11732389 0.99305824 0.00839209 -0.44010539] [ 0.04567431 -0.01383727 0.99886054 0.34794981] [ 0. 0. 0. 1. ]] SLAMing on 90.37538475 meters Centerline goodness : 0.946624 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99193673 -0.1174304 -0.04766158 6.38973277] [ 0.11799346 0.99297205 0.00916756 -0.44133688] [ 0.04625007 -0.01471739 0.99882147 0.35009442] [ 0. 0. 0. 1. ]] SLAMing on 90.40538475 meters Centerline goodness : 0.946995 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99189295 -0.11764151 -0.04805056 6.39095132] [ 0.11820622 0.9929476 0.00907512 -0.44023197] [ 0.04664408 -0.01468142 0.99880368 0.34982222] [ 0. 0. 0. 1. ]] SLAMing on 90.43538475 meters Centerline goodness : 0.948533 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99194571 -0.11712294 -0.0482278 6.39095787] [ 0.11770233 0.99300496 0.00934438 -0.43932015] [ 0.046796 -0.01494565 0.99879265 0.34992864] [ 0. 0. 0. 1. ]] SLAMing on 90.46538475 meters Centerline goodness : 0.950694 Centerline is valid? [False, True] Translation: X:6.39, Y:-0.44, Z:0.35 [[ 0.99199699 -0.1165177 -0.04863737 6.39060647] [ 0.11714762 0.99306111 0.01029839 -0.4400777 ] [ 0.04709993 -0.01591373 0.99876341 0.35172029] [ 0. 0. 0. 1. ]] SLAMing on 90.49538474999999 meters Centerline goodness : 0.951204 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.43, Z:0.35 [[ 9.92010535e-01 -1.17206095e-01 -4.66672210e-02 6.41884756e+00] [ 1.17065318e-01 9.93107584e-01 -5.74779688e-03 -4.30930468e-01] [ 4.70192479e-02 2.38762017e-04 9.98893955e-01 3.45180613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52538474999999 meters Centerline goodness : 0.952019 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.43, Z:0.35 [[ 9.92006370e-01 -1.17241903e-01 -4.66658158e-02 6.44701787e+00] [ 1.17100629e-01 9.93103355e-01 -5.75918292e-03 -4.28426506e-01] [ 4.70191958e-02 2.48549757e-04 9.98893955e-01 3.48081929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters Centerline goodness : 0.953578 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.43, Z:0.35 [[ 9.91958845e-01 -1.17643979e-01 -4.66641691e-02 6.47428142e+00] [ 1.17502524e-01 9.93055807e-01 -5.77249482e-03 -4.25215384e-01] [ 4.70192233e-02 2.42919655e-04 9.98893955e-01 3.48529185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58538474999999 meters Centerline goodness : 0.949966 Centerline is valid? [True, False] Translation: X:6.48, Y:-0.43, Z:0.35 [[ 9.92208975e-01 -1.14810211e-01 -4.83731974e-02 6.47765745e+00] [ 1.14937639e-01 9.93372698e-01 -1.48258734e-04 -4.28936166e-01] [ 4.80696352e-02 -5.41279747e-03 9.98829321e-01 3.51314456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters Centerline goodness : 0.950397 Centerline is valid? [False, True] Translation: X:6.48, Y:-0.43, Z:0.35 [[ 9.92138904e-01 -1.15135429e-01 -4.90329312e-02 6.47969484e+00] [ 1.15279114e-01 9.93333134e-01 1.03136589e-04 -4.29285234e-01] [ 4.86941606e-02 -5.75479870e-03 9.98797157e-01 3.51265027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64538474999999 meters Centerline goodness : 0.947631 Centerline is valid? [True, False] Translation: X:6.48, Y:-0.43, Z:0.35 [[ 9.92330538e-01 -1.12903333e-01 -5.03283343e-02 6.48310253e+00] [ 1.13235224e-01 9.93561004e-01 3.78360318e-03 -4.31286105e-01] [ 4.95770889e-02 -9.45352520e-03 9.98725559e-01 3.51680996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters Centerline goodness : 0.947786 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.43, Z:0.35 [[ 9.92175018e-01 -1.13777222e-01 -5.14147656e-02 6.48539978e+00] [ 1.14167318e-01 9.93450392e-01 4.70554870e-03 -4.34508983e-01] [ 5.05426348e-02 -1.05386137e-02 9.98666300e-01 3.53889436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70538475 meters Centerline goodness : 0.949018 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.43, Z:0.35 [[ 9.92012604e-01 -1.14765055e-01 -5.23447739e-02 6.48843859e+00] [ 1.15168225e-01 9.93334683e-01 4.74202819e-03 -4.34782172e-01] [ 5.14516603e-02 -1.07326064e-02 9.98617814e-01 3.53938883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters Centerline goodness : 0.948493 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.44, Z:0.36 [[ 9.91870974e-01 -1.15560446e-01 -5.32705722e-02 6.49075970e+00] [ 1.16005971e-01 9.93234171e-01 5.33823404e-03 -4.36299547e-01] [ 5.22932639e-02 -1.14745438e-02 9.98565846e-01 3.55166122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76538475 meters Centerline goodness : 0.946406 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.44, Z:0.36 [[ 0.99204836 -0.1131842 -0.05503982 6.49494381] [ 0.113855 0.99345479 0.00919839 -0.43676129] [ 0.05363846 -0.01539181 0.99844179 0.35563764] [ 0. 0. 0. 1. ]] SLAMing on 90.79538475 meters Centerline goodness : 0.947057 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.44, Z:0.36 [[ 0.99232387 -0.11006597 -0.05638096 6.49789384] [ 0.11095879 0.99374066 0.01294816 -0.43678863] [ 0.0546029 -0.01910473 0.99832536 0.35552671] [ 0. 0. 0. 1. ]] SLAMing on 90.82538475 meters Centerline goodness : 0.947649 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.44, Z:0.36 [[ 0.99272128 -0.10585973 -0.0574298 6.49770516] [ 0.10704114 0.99409359 0.01789194 -0.4377445 ] [ 0.05519656 -0.02390906 0.99818921 0.35846723] [ 0. 0. 0. 1. ]] SLAMing on 90.85538475 meters Centerline goodness : 0.948727 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.44, Z:0.36 [[ 0.9928646 -0.10436188 -0.05769304 6.49539126] [ 0.10560539 0.99422784 0.01893409 -0.43751284] [ 0.05538403 -0.02489169 0.9981548 0.36122625] [ 0. 0. 0. 1. ]] SLAMing on 90.88538474999999 meters Centerline goodness : 0.946806 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.44, Z:0.36 [[ 0.9928544 -0.10417539 -0.05820341 6.4959375 ] [ 0.10542976 0.99424704 0.01890483 -0.43611425] [ 0.05589915 -0.02490611 0.99812573 0.36162499] [ 0. 0. 0. 1. ]] SLAMing on 90.91538474999999 meters Centerline goodness : 0.947831 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99285032 -0.10397434 -0.05863094 6.4966019 ] [ 0.10523074 0.99427093 0.01875645 -0.43466534] [ 0.05634485 -0.02479212 0.99810351 0.36148968] [ 0. 0. 0. 1. ]] SLAMing on 90.94538474999999 meters Centerline goodness : 0.945054 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99285812 -0.10373478 -0.0589224 6.4972539 ] [ 0.10498365 0.99430182 0.01850221 -0.43319168] [ 0.05666733 -0.02455596 0.99809109 0.36096738] [ 0. 0. 0. 1. ]] SLAMing on 90.97538474999999 meters Centerline goodness : 0.944915 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99277582 -0.10420381 -0.05947895 6.49950538] [ 0.10542934 0.99426669 0.01784365 -0.43188608] [ 0.05727856 -0.02398557 0.99807007 0.35959641] [ 0. 0. 0. 1. ]] SLAMing on 91.00538474999999 meters Centerline goodness : 0.943704 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99269605 -0.10458292 -0.06014118 6.50135056] [ 0.1058169 0.99422802 0.01770411 -0.43142242] [ 0.0579425 -0.02393875 0.99803287 0.35942563] [ 0. 0. 0. 1. ]] SLAMing on 91.03538474999999 meters Centerline goodness : 0.946397 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99267398 -0.10444478 -0.0607426 6.50238734] [ 0.10570719 0.99423535 0.01794596 -0.43162905] [ 0.05851808 -0.02423542 0.99799212 0.35989673] [ 0. 0. 0. 1. ]] SLAMing on 91.06538474999999 meters Centerline goodness : 0.942846 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99265316 -0.10443776 -0.0610939 6.50309539] [ 0.10570587 0.99423636 0.01789795 -0.43113256] [ 0.05887255 -0.02422444 0.99797154 0.35989701] [ 0. 0. 0. 1. ]] SLAMing on 91.09538475 meters Centerline goodness : 0.947174 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.43, Z:0.36 [[ 0.99229947 -0.10804203 -0.0605697 6.50209516] [ 0.10909994 0.99392604 0.01443007 -0.43157441] [ 0.05864275 -0.0209271 0.99805966 0.36071053] [ 0. 0. 0. 1. ]] SLAMing on 91.12538475 meters Centerline goodness : 0.948354 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.43, Z:0.36 [[ 0.99204147 -0.109713 -0.06178016 6.50592748] [ 0.11079663 0.99373897 0.01438609 -0.43222279] [ 0.05981501 -0.02111663 0.9979861 0.36137285] [ 0. 0. 0. 1. ]] SLAMing on 91.15538475 meters Centerline goodness : 0.947067 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.43, Z:0.36 [[ 0.99190287 -0.11052681 -0.0625502 6.50894753] [ 0.11160296 0.99365468 0.01396991 -0.43148439] [ 0.06060925 -0.02083758 0.99794404 0.36035871] [ 0. 0. 0. 1. ]] SLAMing on 91.18538475 meters Centerline goodness : 0.945025 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.43, Z:0.36 [[ 0.99176209 -0.11138417 -0.06325767 6.51210298] [ 0.11244813 0.99356582 0.01350502 -0.43054426] [ 0.06134641 -0.02050697 0.99790585 0.35899076] [ 0. 0. 0. 1. ]] SLAMing on 91.21538475 meters Centerline goodness : 0.942975 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99159377 -0.11230177 -0.06426592 6.51540597] [ 0.11337698 0.99346269 0.01332418 -0.43106972] [ 0.06234947 -0.02049845 0.99784385 0.3587046 ] [ 0. 0. 0. 1. ]] SLAMing on 91.24538474999999 meters Centerline goodness : 0.942314 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99152885 -0.11248239 -0.06494813 6.51705956] [ 0.11357747 0.99343863 0.01341055 -0.43128856] [ 0.06301353 -0.02067359 0.99779853 0.35887211] [ 0. 0. 0. 1. ]] SLAMing on 91.27538474999999 meters Centerline goodness : 0.945336 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99161808 -0.11158077 -0.06514071 6.51608494] [ 0.11274422 0.9935189 0.01445483 -0.43321002] [ 0.06310564 -0.02167791 0.99777139 0.36071385] [ 0. 0. 0. 1. ]] SLAMing on 91.30538474999999 meters Centerline goodness : 0.946972 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99164193 -0.11120876 -0.06541326 6.51616533] [ 0.11241478 0.99354749 0.01504321 -0.43364435] [ 0.06331824 -0.02227089 0.99774486 0.36160211] [ 0. 0. 0. 1. ]] SLAMing on 91.33538474999999 meters Centerline goodness : 0.949774 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99168869 -0.11058299 -0.06576439 6.51581651] [ 0.11184539 0.99359964 0.01582299 -0.43345206] [ 0.06359372 -0.02304692 0.99770972 0.36295529] [ 0. 0. 0. 1. ]] SLAMing on 91.36538474999999 meters Centerline goodness : 0.950270 Centerline is valid? [False, True] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99163758 -0.11072647 -0.06629149 6.51717829] [ 0.11200345 0.99358132 0.01585542 -0.43252317] [ 0.06411037 -0.0231477 0.99767432 0.362918 ] [ 0. 0. 0. 1. ]] SLAMing on 91.39538474999999 meters Centerline goodness : 0.948565 Centerline is valid? [True, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99161266 -0.11072077 -0.06667268 6.51804354] [ 0.11202021 0.99357605 0.01606577 -0.4324879 ] [ 0.06446557 -0.0233997 0.99764555 0.36311488] [ 0. 0. 0. 1. ]] SLAMing on 91.42538474999999 meters Centerline goodness : 0.948820 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99158213 -0.11062086 -0.0672897 6.51922191] [ 0.11195422 0.99357858 0.01636635 -0.43258675] [ 0.06504714 -0.02376195 0.99759924 0.36361939] [ 0. 0. 0. 1. ]] SLAMing on 91.45538475 meters Centerline goodness : 0.949423 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99154482 -0.11062195 -0.06783543 6.52014963] [ 0.11198141 0.99357223 0.01656487 -0.43289228] [ 0.06556696 -0.02402112 0.997559 0.36414825] [ 0. 0. 0. 1. ]] SLAMing on 91.48538475 meters Centerline goodness : 0.949004 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.43, Z:0.36 [[ 0.99144322 -0.11099512 -0.06870541 6.5222898 ] [ 0.11238538 0.99352435 0.01669985 -0.4332529 ] [ 0.06640689 -0.02427844 0.99749721 0.36449734] [ 0. 0. 0. 1. ]] SLAMing on 91.51538475 meters Centerline goodness : 0.948480 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.43, Z:0.36 [[ 0.99130656 -0.11175696 -0.06943839 6.52518592] [ 0.1131643 0.99343655 0.01666319 -0.43332804] [ 0.06712041 -0.02437627 0.99744707 0.36400832] [ 0. 0. 0. 1. ]] SLAMing on 91.54538475 meters Centerline goodness : 0.947344 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.43, Z:0.36 [[ 0.99117963 -0.11243284 -0.07015558 6.5276756 ] [ 0.11385539 0.99335854 0.01660616 -0.43351523] [ 0.06782257 -0.02444728 0.99739783 0.36374176] [ 0. 0. 0. 1. ]] SLAMing on 91.57538475 meters Centerline goodness : 0.945749 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.43, Z:0.36 [[ 0.99106563 -0.1130148 -0.07082782 6.52984361] [ 0.1144635 0.99328662 0.0167272 -0.43440426] [ 0.06846191 -0.02468495 0.99734829 0.36377922] [ 0. 0. 0. 1. ]] SLAMing on 91.60538475 meters Centerline goodness : 0.947928 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.44, Z:0.36 [[ 0.99083737 -0.11436757 -0.07184263 6.53330054] [ 0.11588025 0.99311358 0.01723908 -0.43717131] [ 0.0693763 -0.02540627 0.99726699 0.36479769] [ 0. 0. 0. 1. ]] SLAMing on 91.63538474999999 meters Centerline goodness : 0.951142 Centerline is valid? [False, True] Translation: X:6.53, Y:-0.44, Z:0.37 [[ 0.99073657 -0.11476862 -0.07258928 6.53481775] [ 0.1163357 0.99305172 0.01772799 -0.43869879] [ 0.0700503 -0.02600849 0.99720435 0.36596118] [ 0. 0. 0. 1. ]] SLAMing on 91.66538474999999 meters Centerline goodness : 0.950805 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.43, Z:0.35 [[ 9.90329346e-01 -1.19838436e-01 -6.99037577e-02 6.56325005e+00] [ 1.19606922e-01 9.92792971e-01 -7.50335416e-03 -4.27429698e-01] [ 7.02991496e-02 -9.30181463e-04 9.97525521e-01 3.51533833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69538474999999 meters Centerline goodness : 0.950913 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.42, Z:0.35 [[ 9.90196176e-01 -1.20934423e-01 -6.99027807e-02 6.59194446e+00] [ 1.20704994e-01 9.92659996e-01 -7.51244564e-03 -4.24664434e-01] [ 7.02982073e-02 -9.98819756e-04 9.97525521e-01 3.52718457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72538474999999 meters Centerline goodness : 0.948345 Centerline is valid? [True, False] Translation: X:6.60, Y:-0.43, Z:0.35 [[ 9.90465265e-01 -1.17799912e-01 -7.14264620e-02 6.59532584e+00] [ 1.17916166e-01 9.93020146e-01 -2.60154918e-03 -4.27211486e-01] [ 7.12343780e-02 -5.84559044e-03 9.97442476e-01 3.53991456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters Centerline goodness : 0.949616 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.43, Z:0.36 [[ 9.90765655e-01 -1.14099846e-01 -7.32437143e-02 6.59778619e+00] [ 1.14594442e-01 9.93409028e-01 2.57251490e-03 -4.29759948e-01] [ 7.24674434e-02 -1.09420820e-02 9.97310754e-01 3.56596313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78538474999999 meters Centerline goodness : 0.948761 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.43, Z:0.36 [[ 0.9910804 -0.11036873 -0.07468854 6.59973775] [ 0.11121748 0.99376936 0.00728894 -0.43164221] [ 0.07341871 -0.0155306 0.99718027 0.35834797] [ 0. 0. 0. 1. ]] SLAMing on 91.81538474999999 meters Centerline goodness : 0.947698 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.43, Z:0.36 [[ 0.99141392 -0.10625902 -0.07620663 6.60139826] [ 0.10746291 0.99413831 0.01186336 -0.43272122] [ 0.07449934 -0.01995088 0.99702147 0.36016031] [ 0. 0. 0. 1. ]] SLAMing on 91.84538475 meters Centerline goodness : 0.948560 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.43, Z:0.36 [[ 0.99141451 -0.10594042 -0.07664138 6.60197096] [ 0.10715996 0.99416977 0.01196706 -0.4319642 ] [ 0.07492675 -0.0200772 0.9969869 0.36030788] [ 0. 0. 0. 1. ]] SLAMing on 91.87538475 meters Centerline goodness : 0.951333 Centerline is valid? [False, True] Translation: X:6.60, Y:-0.43, Z:0.36 [[ 0.99132394 -0.10611353 -0.07756782 6.60293823] [ 0.10741761 0.99413126 0.01282578 -0.43338055] [ 0.07575161 -0.02104665 0.99690458 0.3628279 ] [ 0. 0. 0. 1. ]] SLAMing on 91.90538475 meters Centerline goodness : 0.952359 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.42, Z:0.35 [[ 9.91110894e-01 -1.09519216e-01 -7.55297065e-02 6.63117425e+00] [ 1.09257798e-01 9.93984416e-01 -7.59701447e-03 -4.23158089e-01] [ 7.59073703e-02 -7.22725595e-04 9.97114612e-01 3.52495105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters Centerline goodness : 0.953684 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.42, Z:0.36 [[ 9.90828144e-01 -1.12048883e-01 -7.55290455e-02 6.65954328e+00] [ 1.11794301e-01 9.93702279e-01 -7.60358046e-03 -4.18061269e-01] [ 7.59053574e-02 -9.09875301e-04 9.97114612e-01 3.55321812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96538475 meters Centerline goodness : 0.954570 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.41, Z:0.36 [[ 9.90755006e-01 -1.12695028e-01 -7.55271367e-02 6.68668929e+00] [ 1.12440878e-01 9.93629180e-01 -7.62249408e-03 -4.14371319e-01] [ 7.59049840e-02 -9.40313417e-04 9.97114612e-01 3.56132349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters Centerline goodness : 0.953299 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.41, Z:0.36 [[ 9.90820455e-01 -1.12118780e-01 -7.55261915e-02 6.71482569e+00] [ 1.11862246e-01 9.93694416e-01 -7.63184754e-03 -4.09170735e-01] [ 7.59056282e-02 -8.86738789e-04 9.97114612e-01 3.58137771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02538474999999 meters Centerline goodness : 0.953585 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.41, Z:0.36 [[ 9.90873409e-01 -1.11651276e-01 -7.55240372e-02 6.74263381e+00] [ 1.11391765e-01 9.93747103e-01 -7.65310726e-03 -4.05111224e-01] [ 7.59062724e-02 -8.29495347e-04 9.97114612e-01 3.60455140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters Centerline goodness : 0.953401 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.40, Z:0.36 [[ 9.91129417e-01 -1.09356867e-01 -7.55218809e-02 6.76952376e+00] [ 1.09089087e-01 9.94002352e-01 -7.67432750e-03 -4.00983203e-01] [ 7.59081677e-02 -6.32361268e-04 9.97114612e-01 3.62375766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08538474999999 meters Centerline goodness : 0.952266 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.40, Z:0.37 [[ 9.91239501e-01 -1.08355522e-01 -7.55204080e-02 6.79739676e+00] [ 1.08083738e-01 9.94112060e-01 -7.68879435e-03 -3.97005157e-01] [ 7.59088717e-02 -5.41091337e-04 9.97114612e-01 3.65418078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters Centerline goodness : 0.952266 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.39, Z:0.37 [[ 9.91209386e-01 -1.08632153e-01 -7.55182665e-02 6.82581643e+00] [ 1.08359572e-01 9.94081869e-01 -7.70977130e-03 -3.93917371e-01] [ 7.59088685e-02 -5.41129384e-04 9.97114613e-01 3.67580178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14538474999999 meters Centerline goodness : 0.951412 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.39, Z:0.37 [[ 9.91374810e-01 -1.07113502e-01 -7.55161152e-02 6.85312430e+00] [ 1.06834921e-01 9.94246717e-01 -7.73078563e-03 -3.87839403e-01] [ 7.59097212e-02 -4.03652036e-04 9.97114613e-01 3.68932967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters Centerline goodness : 0.950862 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.38, Z:0.37 [[ 9.91472136e-01 -1.06210369e-01 -7.55139744e-02 6.88024986e+00] [ 1.05927583e-01 9.94343632e-01 -7.75164095e-03 -3.83923889e-01] [ 7.59101442e-02 -3.13476778e-04 9.97114613e-01 3.70362251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20538475 meters Centerline goodness : 0.949708 Centerline is valid? [True, False] Translation: X:6.88, Y:-0.38, Z:0.37 [[ 9.91740938e-01 -1.02383174e-01 -7.72502301e-02 6.88261987e+00] [ 1.02468749e-01 9.94732096e-01 -2.86570596e-03 -3.84979429e-01] [ 7.71366833e-02 -5.07369652e-03 9.97007618e-01 3.72634538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters Centerline goodness : 0.949883 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.39, Z:0.37 [[ 9.91957468e-01 -9.89565788e-02 -7.89175370e-02 6.88534909e+00] [ 9.94063965e-02 9.95045322e-01 1.78207007e-03 -3.86375473e-01] [ 7.83501784e-02 -9.61264569e-03 9.96879555e-01 3.74432265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26538475 meters Centerline goodness : 0.946853 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.39, Z:0.38 [[ 9.92117411e-01 -9.57283907e-02 -8.08648095e-02 6.88942246e+00] [ 9.65111108e-02 9.95314904e-01 5.81785121e-03 -3.86553274e-01] [ 7.99290166e-02 -1.35763441e-02 9.96708099e-01 3.75105953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters Centerline goodness : 0.944638 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.39, Z:0.38 [[ 0.99228793 -0.09260021 -0.08240059 6.89229645] [ 0.09373369 0.99554721 0.0099869 -0.38776703] [ 0.08110889 -0.01763359 0.99654925 0.37638576] [ 0. 0. 0. 1. ]] SLAMing on 92.32538475 meters Centerline goodness : 0.946041 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:0.38 [[ 0.99245756 -0.08916594 -0.08412748 6.89522401] [ 0.09068004 0.99577677 0.01434398 -0.38894148] [ 0.0824932 -0.02186448 0.99635175 0.37820981] [ 0. 0. 0. 1. ]] SLAMing on 92.35538475 meters Centerline goodness : 0.943764 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:0.38 [[ 0.99240841 -0.08912003 -0.08475352 6.89616988] [ 0.09065535 0.99577771 0.01443468 -0.38852112] [ 0.08310925 -0.02200845 0.99629739 0.37875199] [ 0. 0. 0. 1. ]] SLAMing on 92.38538474999999 meters Centerline goodness : 0.943749 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:0.38 [[ 0.99236387 -0.08883782 -0.08556748 6.89746709] [ 0.0904146 0.99579536 0.01472405 -0.38837977] [ 0.08389965 -0.02234817 0.99622357 0.37950874] [ 0. 0. 0. 1. ]] SLAMing on 92.41538474999999 meters Centerline goodness : 0.944381 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:0.39 [[ 0.9919414 -0.0850917 -0.09387049 6.90693906] [ 0.08651321 0.99618806 0.01117181 -0.39132847] [ 0.09256203 -0.01920282 0.99552173 0.38626415] [ 0. 0. 0. 1. ]] SLAMing on 92.44538474999999 meters Centerline goodness : 0.946423 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:0.39 [[ 0.9919167 -0.08495925 -0.09425062 6.90727466] [ 0.08645702 0.99618432 0.01191594 -0.39247896] [ 0.09287862 -0.01996825 0.99547719 0.38752188] [ 0. 0. 0. 1. ]] SLAMing on 92.47538474999999 meters Centerline goodness : 0.948481 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:0.39 [[ 0.99187664 -0.08508779 -0.09455579 6.90827151] [ 0.08663845 0.99616253 0.0124095 -0.39337374] [ 0.09313704 -0.02050086 0.99544222 0.38796116] [ 0. 0. 0. 1. ]] SLAMing on 92.50538474999999 meters Centerline goodness : 0.946120 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.40, Z:0.39 [[ 0.99163291 -0.08502018 -0.0971377 6.91783247] [ 0.08729346 0.99599392 0.01938986 -0.39559395] [ 0.09510003 -0.02770711 0.99508206 0.39376176] [ 0. 0. 0. 1. ]] SLAMing on 92.53538474999999 meters Centerline goodness : 0.947271 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.40, Z:0.39 [[ 0.99151968 -0.08563002 -0.09775593 6.92012044] [ 0.08791299 0.99594151 0.01928241 -0.39621461] [ 0.09570804 -0.02771291 0.9950236 0.39347313] [ 0. 0. 0. 1. ]] SLAMing on 92.56538474999999 meters Centerline goodness : 0.947587 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:0.39 [[ 0.99119452 -0.08737258 -0.09949599 6.92531872] [ 0.08971307 0.99578085 0.01928885 -0.39830017] [ 0.09739089 -0.0280451 0.99485099 0.39436861] [ 0. 0. 0. 1. ]] SLAMing on 92.59538475 meters Centerline goodness : 0.948749 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:0.39 [[ 0.99092902 -0.08908033 -0.10061998 6.92948894] [ 0.09144981 0.995625 0.01917784 -0.4007735 ] [ 0.0984714 -0.02820556 0.99474008 0.39482986] [ 0. 0. 0. 1. ]] SLAMing on 92.62538475 meters Centerline goodness : 0.947774 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:0.40 [[ 0.99078326 -0.08970798 -0.10149386 6.93204367] [ 0.09212053 0.99556024 0.01932901 -0.40202588] [ 0.09930929 -0.02850053 0.99464837 0.39520503] [ 0. 0. 0. 1. ]] SLAMing on 92.65538475 meters Centerline goodness : 0.948671 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:0.40 [[ 0.99053444 -0.09074196 -0.10299236 6.93598383] [ 0.09320566 0.99545871 0.01935618 -0.40256371] [ 0.10076823 -0.02877244 0.9944938 0.3960667 ] [ 0. 0. 0. 1. ]] SLAMing on 92.68538475 meters Centerline goodness : 0.946175 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:0.40 [[ 0.99050222 -0.09064379 -0.10338788 6.9370245 ] [ 0.09312859 0.99546399 0.01945531 -0.4023789 ] [ 0.10115541 -0.02889889 0.99445082 0.39600458] [ 0. 0. 0. 1. ]] SLAMing on 92.71538475 meters Centerline goodness : 0.945108 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:0.40 [[ 0.99036973 -0.08660847 -0.10801282 6.95276415] [ 0.08855842 0.99598112 0.0133797 -0.40190362] [ 0.10641994 -0.02281629 0.99405946 0.39737691] [ 0. 0. 0. 1. ]] SLAMing on 92.74538474999999 meters Centerline goodness : 0.944341 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:0.40 [[ 0.99061745 -0.0821956 -0.1091831 6.95405547] [ 0.08456154 0.99626961 0.01721105 -0.40103399] [ 0.10736113 -0.02628225 0.99387264 0.39808051] [ 0. 0. 0. 1. ]] SLAMing on 92.77538474999999 meters Centerline goodness : 0.940780 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:0.39 [[ 0.99133939 -0.07965815 -0.10440683 6.96666986] [ 0.08100227 0.99667603 0.00869075 -0.3968353 ] [ 0.1033675 -0.01707267 0.9944967 0.39362372] [ 0. 0. 0. 1. ]] SLAMing on 92.80538474999999 meters Centerline goodness : 0.942603 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.39, Z:0.39 [[ 9.92193297e-01 -7.40152512e-02 -1.00370335e-01 6.98115713e+00] [ 7.48376535e-02 9.97185810e-01 4.44812638e-03 -3.93096718e-01] [ 9.97586448e-02 -1.19248815e-02 9.94940204e-01 3.91618084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83538474999999 meters Centerline goodness : 0.942029 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.39, Z:0.39 [[ 9.92901163e-01 -7.04416011e-02 -9.58397708e-02 6.99575984e+00] [ 7.06184097e-02 9.97502199e-01 -1.54999204e-03 -3.89199984e-01] [ 9.57095661e-02 -5.22906330e-03 9.95395568e-01 3.88859406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86538474999999 meters Centerline goodness : 0.943707 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.39, Z:0.39 [[ 9.93063417e-01 -6.65292878e-02 -9.69479448e-02 6.99704518e+00] [ 6.71898696e-02 9.97733851e-01 3.56148852e-03 -3.91134438e-01] [ 9.64913030e-02 -1.00507037e-02 9.95283081e-01 3.91341646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89538474999999 meters Centerline goodness : 0.944027 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.39, Z:0.39 [[ 9.92992973e-01 -6.65332244e-02 -9.76641521e-02 6.99893334e+00] [ 6.72464349e-02 9.97728275e-01 4.02561324e-03 -3.91820736e-01] [ 9.71744490e-02 -1.05649717e-02 9.95211288e-01 3.91750517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92538474999999 meters Centerline goodness : 0.944039 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.39, Z:0.39 [[ 9.92882782e-01 -6.70874213e-02 -9.84025379e-02 7.00131202e+00] [ 6.78263355e-02 9.97688389e-01 4.17935834e-03 -3.92281172e-01] [ 9.78946871e-02 -1.08238965e-02 9.95137917e-01 3.91850861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95538475 meters Centerline goodness : 0.941789 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.39, Z:0.39 [[ 9.92725921e-01 -6.78310765e-02 -9.94695507e-02 7.00444315e+00] [ 6.86466060e-02 9.97629515e-01 4.79524803e-03 -3.94352022e-01] [ 9.89084928e-02 -1.15886141e-02 9.95029052e-01 3.92610052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98538475 meters Centerline goodness : 0.939578 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.40, Z:0.39 [[ 9.92517580e-01 -6.88727692e-02 -1.00823583e-01 7.00871749e+00] [ 6.97528297e-02 9.97550620e-01 5.22532651e-03 -3.96285200e-01] [ 1.00216745e-01 -1.22189586e-02 9.94890598e-01 3.93084459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01538475 meters Centerline goodness : 0.939616 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.40, Z:0.40 [[ 0.99238721 -0.06752986 -0.102992 7.0151418 ] [ 0.0689481 0.9975674 0.01026898 -0.39810007] [ 0.102048 -0.01729191 0.99462918 0.39615445] [ 0. 0. 0. 1. ]] SLAMing on 93.04538475 meters Centerline goodness : 0.939814 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.40, Z:0.40 [[ 0.99221644 -0.06714978 -0.10486865 7.02220593] [ 0.069023 0.99751211 0.01433257 -0.40012519] [ 0.10364532 -0.02145936 0.9943828 0.39805812] [ 0. 0. 0. 1. ]] SLAMing on 93.07538475 meters Centerline goodness : 0.937744 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.40, Z:0.40 [[ 0.99205939 -0.06794977 -0.10583474 7.0253483 ] [ 0.06983526 0.99745735 0.0142083 -0.40028548] [ 0.10460019 -0.02148647 0.99428222 0.39790113] [ 0. 0. 0. 1. ]] SLAMing on 93.10538475 meters Centerline goodness : 0.937845 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.40, Z:0.40 [[ 0.99187469 -0.068657 -0.10710185 7.02877402] [ 0.07061939 0.99739598 0.01463436 -0.40137932] [ 0.10581821 -0.02207892 0.99414035 0.39876502] [ 0. 0. 0. 1. ]] SLAMing on 93.13538474999999 meters Centerline goodness : 0.936620 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.40, Z:0.40 [[ 0.99175809 -0.06913011 -0.10787457 7.03080114] [ 0.07111996 0.99735938 0.01470439 -0.40149767] [ 0.1065732 -0.02225523 0.99405576 0.39916768] [ 0. 0. 0. 1. ]] SLAMing on 93.16538474999999 meters Centerline goodness : 0.936906 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.40, Z:0.40 [[ 0.99165473 -0.06936434 -0.10867145 7.03272032] [ 0.07142231 0.99733101 0.01515633 -0.40199536] [ 0.1073301 -0.02279141 0.99396217 0.399969 ] [ 0. 0. 0. 1. ]] SLAMing on 93.19538474999999 meters Centerline goodness : 0.936653 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.40, Z:0.41 [[ 0.9914729 -0.067579 -0.11142071 7.03908474] [ 0.07033083 0.99730369 0.0209505 -0.40370085] [ 0.10970447 -0.02860817 0.99355247 0.40505219] [ 0. 0. 0. 1. ]] SLAMing on 93.22538474999999 meters Centerline goodness : 0.942847 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.40, Z:0.40 [[ 0.9920552 -0.06675883 -0.10662895 7.0534271 ] [ 0.06841681 0.99758509 0.01196335 -0.40020436] [ 0.10557279 -0.01916351 0.99422691 0.40131861] [ 0. 0. 0. 1. ]] SLAMing on 93.25538474999999 meters Centerline goodness : 0.942022 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.40, Z:0.40 [[ 9.92724320e-01 -6.49646044e-02 -1.01380597e-01 7.06723417e+00] [ 6.57864301e-02 9.97822275e-01 4.78059681e-03 -3.96770700e-01] [ 1.00849248e-01 -1.14152822e-02 9.94836228e-01 3.98427670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28538474999999 meters Centerline goodness : 0.943032 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.39, Z:0.40 [[ 9.93541970e-01 -5.93511636e-02 -9.67046728e-02 7.08194252e+00] [ 5.98373073e-02 9.98205866e-01 2.13222947e-03 -3.93510570e-01] [ 9.64046213e-02 -7.90500669e-03 9.95310836e-01 3.97324748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31538474999999 meters Centerline goodness : 0.944231 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.39, Z:0.40 [[ 9.93734098e-01 -5.47075889e-02 -9.74660019e-02 7.08196533e+00] [ 5.56515298e-02 9.98425780e-01 6.99070118e-03 -3.94150208e-01] [ 9.69301245e-02 -1.23710302e-02 9.95214303e-01 3.99346355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34538475 meters Centerline goodness : 0.942276 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.39, Z:0.40 [[ 9.94350005e-01 -4.87759037e-02 -9.42813814e-02 7.09852203e+00] [ 4.93210783e-02 9.98776984e-01 3.45947896e-03 -3.89899412e-01] [ 9.39973345e-02 -8.08999232e-03 9.95539579e-01 3.96872955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37538475 meters Centerline goodness : 0.941505 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.39, Z:0.40 [[ 0.99446567 -0.04458345 -0.09513329 7.09967451] [ 0.04552644 0.99893296 0.00776396 -0.39030172] [ 0.09468563 -0.01205207 0.99543427 0.39786326] [ 0. 0. 0. 1. ]] SLAMing on 93.40538475 meters Centerline goodness : 0.942833 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.39, Z:0.40 [[ 9.94981495e-01 -4.04386493e-02 -9.15234422e-02 7.11418141e+00] [ 4.07477724e-02 9.99168323e-01 1.51067475e-03 -3.87622266e-01] [ 9.13862345e-02 -5.23246981e-03 9.95801776e-01 3.95299520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43538475 meters Centerline goodness : 0.946006 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.39, Z:0.40 [[ 9.94973397e-01 -3.67849744e-02 -9.31386302e-02 7.11685249e+00] [ 3.75305884e-02 9.99275834e-01 6.26593935e-03 -3.88925378e-01] [ 9.28406899e-02 -9.72999055e-03 9.95633433e-01 3.97515416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46538475 meters Centerline goodness : 0.945485 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.39, Z:0.40 [[ 0.99504463 -0.03246196 -0.09398084 7.11837656] [ 0.03357001 0.99938398 0.01023289 -0.38864339] [ 0.09359077 -0.01333712 0.99552142 0.39765274] [ 0. 0. 0. 1. ]] SLAMing on 93.49538474999999 meters Centerline goodness : 0.945337 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.39, Z:0.40 [[ 0.9950255 -0.03188205 -0.09438111 7.11933379] [ 0.03300059 0.99940211 0.01031402 -0.38777229] [ 0.09399585 -0.01337735 0.99548271 0.39713576] [ 0. 0. 0. 1. ]] SLAMing on 93.52538474999999 meters Centerline goodness : 0.942946 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.39, Z:0.39 [[ 9.95492830e-01 -2.75301999e-02 -9.07530367e-02 7.13462975e+00] [ 2.80624118e-02 9.99595619e-01 4.59337329e-03 -3.85688130e-01] [ 9.05898814e-02 -7.11941927e-03 9.95862836e-01 3.93620037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55538474999999 meters Centerline goodness : 0.943078 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.39, Z:0.40 [[ 0.99549428 -0.02349595 -0.09186441 7.13638362] [ 0.02446558 0.99965607 0.00944303 -0.38768874] [ 0.09161094 -0.011648 0.99572675 0.3953998 ] [ 0. 0. 0. 1. ]] SLAMing on 93.58538474999999 meters Centerline goodness : 0.945149 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.39, Z:0.39 [[ 9.96047426e-01 -1.96806112e-02 -8.66152340e-02 7.14876001e+00] [ 2.00258097e-02 9.99794601e-01 3.11824279e-03 -3.87756073e-01] [ 8.65360744e-02 -4.84045790e-03 9.96236959e-01 3.92439772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61538474999999 meters Centerline goodness : 0.946403 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.39, Z:0.39 [[ 0.99601969 -0.01607725 -0.08767149 7.15085533] [ 0.0168818 0.99982184 0.00844316 -0.3911421 ] [ 0.08752012 -0.00988961 0.99611366 0.39484902] [ 0. 0. 0. 1. ]] SLAMing on 93.64538474999999 meters Centerline goodness : 0.949507 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.40, Z:0.40 [[ 0.99596194 -0.01587685 -0.08836137 7.15208018] [ 0.01685049 0.99980513 0.01028377 -0.39536591] [ 0.08818088 -0.01173117 0.9960354 0.39693112] [ 0. 0. 0. 1. ]] SLAMing on 93.67538474999999 meters Centerline goodness : 0.949080 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.40, Z:0.40 [[ 0.99588563 -0.01647448 -0.08910895 7.15452247] [ 0.0174957 0.99978977 0.01069147 -0.39748195] [ 0.08891408 -0.0122065 0.9959645 0.39702903] [ 0. 0. 0. 1. ]] SLAMing on 93.70538475 meters Centerline goodness : 0.949517 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.40, Z:0.40 [[ 0.99570098 -0.02056495 -0.09031411 7.16109531] [ 0.02152685 0.99972132 0.0096893 -0.4013759 ] [ 0.09008968 -0.01159182 0.9958662 0.39641594] [ 0. 0. 0. 1. ]] SLAMing on 93.73538475 meters Centerline goodness : 0.947979 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.40, Z:0.40 [[ 0.99558676 -0.02197539 -0.09123642 7.16495684] [ 0.02294948 0.99969014 0.00964101 -0.40410068] [ 0.09099628 -0.01169229 0.99578259 0.39573199] [ 0. 0. 0. 1. ]] SLAMing on 93.76538475 meters Centerline goodness : 0.948486 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.41, Z:0.39 [[ 0.99528664 -0.02828143 -0.09276137 7.17538137] [ 0.02914781 0.99954311 0.00799809 -0.40811168] [ 0.09249279 -0.01066418 0.99565625 0.39421541] [ 0. 0. 0. 1. ]] SLAMing on 93.79538475 meters Centerline goodness : 0.946295 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.41, Z:0.39 [[ 0.9951462 -0.03009496 -0.09369276 7.17960069] [ 0.03098193 0.99948772 0.00802631 -0.41133715] [ 0.09340321 -0.01089013 0.9955688 0.39384174] [ 0. 0. 0. 1. ]] SLAMing on 93.82538475 meters Centerline goodness : 0.943467 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.42, Z:0.39 [[ 0.99470281 -0.03744926 -0.09572816 7.19323229] [ 0.03839328 0.99923038 0.008038 -0.415973 ] [ 0.09535347 -0.01167074 0.99537506 0.39465563] [ 0. 0. 0. 1. ]] SLAMing on 93.85538475 meters Centerline goodness : 0.942504 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.42, Z:0.39 [[ 0.99449616 -0.03912187 -0.09719502 7.19836505] [ 0.04013389 0.99915834 0.00847834 -0.41842932] [ 0.09678153 -0.01233249 0.99522924 0.39499135] [ 0. 0. 0. 1. ]] SLAMing on 93.88538474999999 meters Centerline goodness : 0.941985 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.42, Z:0.40 [[ 0.99420964 -0.04208772 -0.09887274 7.21000654] [ 0.04364953 0.99895316 0.01368554 -0.42016122] [ 0.09819324 -0.01792205 0.99500597 0.39971555] [ 0. 0. 0. 1. ]] SLAMing on 93.91538474999999 meters Centerline goodness : 0.944227 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.42, Z:0.40 [[ 0.99407866 -0.04291661 -0.09982881 7.21254296] [ 0.04453934 0.99890837 0.01408259 -0.42122728] [ 0.09911546 -0.01844551 0.99490496 0.40072276] [ 0. 0. 0. 1. ]] SLAMing on 93.94538474999999 meters Centerline goodness : 0.944599 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.42, Z:0.40 [[ 0.99392427 -0.04407139 -0.1008576 7.21580726] [ 0.04571096 0.99885657 0.0140023 -0.42134516] [ 0.10012517 -0.01852752 0.99480233 0.40096191] [ 0. 0. 0. 1. ]] SLAMing on 93.97538474999999 meters Centerline goodness : 0.942185 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.42, Z:0.40 [[ 0.99371691 -0.0434712 -0.10313563 7.22333329] [ 0.04555953 0.99879983 0.01797871 -0.42089524] [ 0.10223029 -0.02256456 0.99450481 0.40307924] [ 0. 0. 0. 1. ]] SLAMing on 94.00538474999999 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.42, Z:0.40 [[ 0.99415266 -0.04299786 -0.09905385 7.24191597] [ 0.04445802 0.99893204 0.01258022 -0.41836607] [ 0.09840714 -0.0169104 0.99500255 0.40252612] [ 0. 0. 0. 1. ]] SLAMing on 94.03538474999999 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.42, Z:0.40 [[ 0.99415266 -0.04299786 -0.09905385 7.24191597] [ 0.04445802 0.99893204 0.01258022 -0.41836607] [ 0.09840714 -0.0169104 0.99500255 0.40252612] [ 0. 0. 0. 1. ]] SLAMing on 94.06538474999999 meters Centerline goodness : 0.947332 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.42, Z:0.40 [[ 9.94652051e-01 -4.22930076e-02 -9.42263169e-02 7.25739783e+00] [ 4.30031715e-02 9.99059697e-01 5.51813322e-03 -4.16218125e-01] [ 9.39043371e-02 -9.54065298e-03 9.95535510e-01 4.00312692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09538475 meters Centerline goodness : 0.951213 Centerline is valid? [False, True] Translation: X:7.26, Y:-0.42, Z:0.41 [[ 0.99456976 -0.03996732 -0.09609169 7.26160373] [ 0.04137451 0.99906304 0.01269584 -0.41802794] [ 0.09549423 -0.01660264 0.99529152 0.40740673] [ 0. 0. 0. 1. ]] SLAMing on 94.12538475 meters Centerline goodness : 0.952309 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.41, Z:0.40 [[ 9.94532596e-01 -4.15412145e-02 -9.58083657e-02 7.29105408e+00] [ 4.15481048e-02 9.99134652e-01 -1.92386543e-03 -4.11050344e-01] [ 9.58053778e-02 -2.06730913e-03 9.95397938e-01 4.01021947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15538475 meters Centerline goodness : 0.953682 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.41, Z:0.40 [[ 9.94501840e-01 -4.22722009e-02 -9.58078890e-02 7.32020290e+00] [ 4.22802154e-02 9.99103894e-01 -1.94731862e-03 -4.09228722e-01] [ 9.58043524e-02 -2.11416623e-03 9.95397939e-01 4.04759040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18538475 meters Centerline goodness : 0.951993 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.41, Z:0.41 [[ 9.94486686e-01 -4.26282933e-02 -9.58074082e-02 7.34755916e+00] [ 4.26357048e-02 9.99088741e-01 -1.97069389e-03 -4.05802104e-01] [ 9.58041102e-02 -2.12498754e-03 9.95397939e-01 4.05714686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters Centerline goodness : 0.949674 Centerline is valid? [True, False] Translation: X:7.35, Y:-0.41, Z:0.41 [[ 9.94351471e-01 -4.06415263e-02 -9.80480391e-02 7.35414654e+00] [ 4.10175406e-02 9.99156766e-01 1.82151320e-03 -4.05209332e-01] [ 9.78913326e-02 -5.83291375e-03 9.95180016e-01 4.06476473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24538474999999 meters Centerline goodness : 0.945326 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.41, Z:0.41 [[ 9.94289872e-01 -3.83804456e-02 -9.95720426e-02 7.35853851e+00] [ 3.91130840e-02 9.99220116e-01 5.41547603e-03 -4.05883210e-01] [ 9.92865396e-02 -9.27912263e-03 9.95015618e-01 4.07120532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters Centerline goodness : 0.942222 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.41, Z:0.41 [[ 0.99406608 -0.03770236 -0.10203507 7.36690045] [ 0.03882322 0.99920538 0.00902078 -0.40573772] [ 0.10161388 -0.01292858 0.9947399 0.40829407] [ 0. 0. 0. 1. ]] SLAMing on 94.30538474999999 meters Centerline goodness : 0.942637 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.40, Z:0.41 [[ 0.99392591 -0.03873496 -0.10300912 7.37036772] [ 0.03983149 0.99916933 0.00860855 -0.4049372 ] [ 0.1025901 -0.01265927 0.99464316 0.40775906] [ 0. 0. 0. 1. ]] SLAMing on 94.33538474999999 meters Centerline goodness : 0.939325 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.40, Z:0.41 [[ 0.99376843 -0.03990675 -0.10407573 7.37448895] [ 0.04099234 0.99912489 0.0083119 -0.40430089] [ 0.10365296 -0.01252641 0.99453464 0.4071058 ] [ 0. 0. 0. 1. ]] SLAMing on 94.36538474999999 meters Centerline goodness : 0.940476 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.40, Z:0.41 [[ 0.99368125 -0.04042618 -0.10470577 7.37678306] [ 0.0415287 0.99910225 0.00837016 -0.4037227 ] [ 0.1042734 -0.01266557 0.99446802 0.4069967 ] [ 0. 0. 0. 1. ]] SLAMing on 94.39538474999999 meters Centerline goodness : 0.941027 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.40, Z:0.41 [[ 0.99355043 -0.03799503 -0.10683596 7.38177549] [ 0.0396795 0.99911874 0.01368484 -0.40488743] [ 0.10622185 -0.01783578 0.99418248 0.41054912] [ 0. 0. 0. 1. ]] SLAMing on 94.42538474999999 meters Centerline goodness : 0.942496 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.41, Z:0.41 [[ 0.99353722 -0.03437619 -0.10817614 7.3842841 ] [ 0.03660625 0.99915485 0.01869664 -0.40633053] [ 0.107442 -0.02253573 0.99395591 0.4129994 ] [ 0. 0. 0. 1. ]] SLAMing on 94.45538475 meters Centerline goodness : 0.949046 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.40, Z:0.41 [[ 0.9941966 -0.03101386 -0.10301102 7.39644506] [ 0.03242626 0.99940131 0.01206457 -0.40444449] [ 0.10257518 -0.01533482 0.99460705 0.41094263] [ 0. 0. 0. 1. ]] SLAMing on 94.48538475 meters Centerline goodness : 0.946933 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.40, Z:0.41 [[ 9.94773546e-01 -2.84079362e-02 -9.80743648e-02 7.41032831e+00] [ 2.91292111e-02 9.99558064e-01 5.93006045e-03 -4.02911934e-01] [ 9.78625615e-02 -8.75589613e-03 9.95161421e-01 4.08980053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51538475 meters Centerline goodness : 0.951213 Centerline is valid? [False, True] Translation: X:7.43, Y:-0.40, Z:0.41 [[ 9.95357737e-01 -2.32032831e-02 -9.34054816e-02 7.42506351e+00] [ 2.35449151e-02 9.99719510e-01 2.55700795e-03 -4.01786565e-01] [ 9.33199513e-02 -4.74436177e-03 9.95624868e-01 4.07647019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54538475 meters Centerline goodness : 0.948981 Centerline is valid? [True, False] Translation: X:7.43, Y:-0.40, Z:0.41 [[ 9.95355197e-01 -1.93576267e-02 -9.43043697e-02 7.42676015e+00] [ 2.01077530e-02 9.99773240e-01 7.01048391e-03 -4.02950048e-01] [ 9.41472789e-02 -8.87417057e-03 9.95518729e-01 4.09014920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57538475 meters Centerline goodness : 0.947972 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.40, Z:0.41 [[ 0.99531891 -0.01487257 -0.09549385 7.42871179] [ 0.0160606 0.99980275 0.01168434 -0.40371785] [ 0.09530124 -0.01316333 0.99536144 0.41048472] [ 0. 0. 0. 1. ]] SLAMing on 94.60538475 meters Centerline goodness : 0.949256 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.41, Z:0.41 [[ 0.99524624 -0.01149064 -0.09671029 7.43132522] [ 0.01310662 0.99978463 0.01609083 -0.40550282] [ 0.09650457 -0.01728188 0.9951825 0.41205162] [ 0. 0. 0. 1. ]] SLAMing on 94.63538474999999 meters Centerline goodness : 0.947927 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.41, Z:0.41 [[ 0.99511941 -0.0121866 -0.09792261 7.43550104] [ 0.01383115 0.99977418 0.01613322 -0.40671326] [ 0.09770389 -0.01740887 0.99506326 0.41138296] [ 0. 0. 0. 1. ]] SLAMing on 94.66538474999999 meters Centerline goodness : 0.946633 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.41, Z:0.41 [[ 0.99500906 -0.01344057 -0.09887533 7.43934425] [ 0.01507885 0.99976082 0.01584052 -0.40747247] [ 0.09863878 -0.01725239 0.99497374 0.41066059] [ 0. 0. 0. 1. ]] SLAMing on 94.69538474999999 meters Centerline goodness : 0.944358 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.41, Z:0.41 [[ 0.9948221 -0.01546159 -0.10044868 7.44537074] [ 0.01713023 0.99972889 0.01577059 -0.40994664] [ 0.1001776 -0.01740964 0.99481725 0.41025693] [ 0. 0. 0. 1. ]] SLAMing on 94.72538474999999 meters Centerline goodness : 0.945214 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.41, Z:0.41 [[ 0.99470443 -0.01626928 -0.10148107 7.44863672] [ 0.01796586 0.99971333 0.01582664 -0.41103865] [ 0.10119449 -0.01756602 0.99471157 0.4102274 ] [ 0. 0. 0. 1. ]] SLAMing on 94.75538474999999 meters Centerline goodness : 0.940696 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.41, Z:0.41 [[ 0.99453672 -0.01591335 -0.1031672 7.45601994] [ 0.01799233 0.99965275 0.0192523 -0.41374351] [ 0.10282501 -0.02100334 0.99447769 0.41108684] [ 0. 0. 0. 1. ]] SLAMing on 94.78538474999999 meters Centerline goodness : 0.941540 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.42, Z:0.41 [[ 0.99445132 -0.0162125 -0.10394096 7.45855488] [ 0.01833988 0.99964077 0.01954421 -0.41505629] [ 0.10358676 -0.02134203 0.99439142 0.41103389] [ 0. 0. 0. 1. ]] SLAMing on 94.81538474999999 meters Centerline goodness : 0.942334 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.42, Z:0.41 [[ 0.99438593 -0.0164911 -0.10452115 7.46038899] [ 0.01868034 0.99962543 0.0200011 -0.41584221] [ 0.10415216 -0.0218413 0.99432152 0.41144499] [ 0. 0. 0. 1. ]] SLAMing on 94.84538475 meters Centerline goodness : 0.943906 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.42, Z:0.41 [[ 0.99432477 -0.01296614 -0.10559414 7.46298677] [ 0.01569368 0.99956324 0.02504057 -0.41980073] [ 0.10522334 -0.02655562 0.99409398 0.41345593] [ 0. 0. 0. 1. ]] SLAMing on 94.87538475 meters Centerline goodness : 0.944640 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.42, Z:0.41 [[ 0.99427913 -0.01284875 -0.10603737 7.4642493 ] [ 0.01561151 0.99955886 0.02526582 -0.41994869] [ 0.10566596 -0.02677668 0.9940411 0.41339914] [ 0. 0. 0. 1. ]] SLAMing on 94.90538475 meters Centerline goodness : 0.946662 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.42, Z:0.41 [[ 0.99477107 -0.01039476 -0.10159958 7.47717646] [ 0.01215092 0.99978702 0.01668151 -0.41833322] [ 0.10140454 -0.01782881 0.9946855 0.41021945] [ 0. 0. 0. 1. ]] SLAMing on 94.93538475 meters Centerline goodness : 0.948251 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.42, Z:0.41 [[ 0.99527452 -0.00916363 -0.09666781 7.49080951] [ 0.00997437 0.99991899 0.00790699 -0.41575498] [ 0.09658753 -0.00883383 0.99528529 0.40657395] [ 0. 0. 0. 1. ]] SLAMing on 94.96538475 meters Centerline goodness : 0.950149 Centerline is valid? [False, True] Translation: X:7.49, Y:-0.42, Z:0.41 [[ 0.9952236 -0.00922556 -0.0971847 7.49205487] [ 0.01007233 0.99991544 0.00822601 -0.41549234] [ 0.09710059 -0.0091656 0.99523237 0.40715998] [ 0. 0. 0. 1. ]] SLAMing on 94.99538474999999 meters Centerline goodness : 0.954111 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.41, Z:0.41 [[ 9.95130355e-01 -1.69448470e-02 -9.71001963e-02 7.52085573e+00] [ 1.69337390e-02 9.99856173e-01 -9.38537491e-04 -4.10597392e-01] [ 9.71021341e-02 -7.10302236e-04 9.95274169e-01 4.12992337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02538474999999 meters Centerline goodness : 0.949815 Centerline is valid? [True, False] Translation: X:7.53, Y:-0.41, Z:0.41 [[ 9.94855442e-01 -1.79716111e-02 -9.96978961e-02 7.53277701e+00] [ 1.82680028e-02 9.99831002e-01 2.06070684e-03 -4.08967936e-01] [ 9.96440132e-02 -3.87138686e-03 9.95015619e-01 4.12376432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05538474999999 meters Centerline goodness : 0.946403 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.41, Z:0.41 [[ 9.94719434e-01 -1.59026734e-02 -1.01392070e-01 7.53877458e+00] [ 1.65574443e-02 9.99847125e-01 5.61946635e-03 -4.09115251e-01] [ 1.01287205e-01 -7.26858594e-03 9.94830674e-01 4.12002613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08538474999999 meters Centerline goodness : 0.946761 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.41, Z:0.41 [[ 0.99459264 -0.01332389 -0.10299493 7.54385398] [ 0.01436495 0.99985289 0.00937272 -0.40989349] [ 0.1028549 -0.01080155 0.99463772 0.4122412 ] [ 0. 0. 0. 1. ]] SLAMing on 95.11538474999999 meters Centerline goodness : 0.947973 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.41, Z:0.42 [[ 0.99449788 -0.00985803 -0.10429187 7.54640451] [ 0.0114359 0.99982886 0.01454222 -0.4123863 ] [ 0.10413066 -0.01565488 0.99444041 0.41507602] [ 0. 0. 0. 1. ]] SLAMing on 95.14538474999999 meters Centerline goodness : 0.949762 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.41, Z:0.41 [[ 9.95011196e-01 -1.02602473e-02 -9.92343061e-02 7.56000917e+00] [ 1.08373067e-02 9.99927346e-01 5.27780884e-03 -4.11804876e-01] [ 9.91729447e-02 -6.32691150e-03 9.95050098e-01 4.13248979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17538474999999 meters Centerline goodness : 0.950623 Centerline is valid? [False, True] Translation: X:7.56, Y:-0.41, Z:0.41 [[ 9.94905803e-01 -1.04853713e-02 -1.00262158e-01 7.56251766e+00] [ 1.11355997e-02 9.99920427e-01 5.92781816e-03 -4.13009997e-01] [ 1.00192024e-01 -7.01409995e-03 9.94943396e-01 4.14136383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20538475 meters Centerline goodness : 0.949964 Centerline is valid? [True, False] Translation: X:7.57, Y:-0.41, Z:0.42 [[ 0.99479109 -0.00800143 -0.10162017 7.56690558] [ 0.00911216 0.99990366 0.01047065 -0.41495299] [ 0.1015266 -0.01134209 0.99476817 0.41550583] [ 0. 0. 0. 1. ]] SLAMing on 95.23538475 meters Centerline goodness : 0.950746 Centerline is valid? [False, True] Translation: X:7.57, Y:-0.42, Z:0.42 [[ 9.94703167e-01 -5.38385413e-03 -1.02648053e-01 7.57079928e+00] [ 6.93652434e-03 9.99866780e-01 1.47752032e-02 -4.17005389e-01] [ 1.02554831e-01 -1.54089621e-02 9.94607998e-01 4.16294114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26538475 meters Centerline goodness : 0.951056 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.41, Z:0.41 [[ 9.94681030e-01 -8.20762480e-03 -1.02675621e-01 7.59912083e+00] [ 8.26318757e-03 9.99965853e-01 1.15815161e-04 -4.12842752e-01] [ 1.02671165e-01 -9.63627061e-04 9.94714885e-01 4.09267551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters Centerline goodness : 0.950299 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.41, Z:0.41 [[ 9.94682818e-01 -7.98782042e-03 -1.02675633e-01 7.62745428e+00] [ 8.04101176e-03 9.99967665e-01 1.04154315e-04 -4.14234559e-01] [ 1.02671481e-01 -9.29216481e-04 9.94714886e-01 4.12655714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32538475 meters Centerline goodness : 0.952314 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.42, Z:0.42 [[ 9.94680583e-01 -8.26124426e-03 -1.02675653e-01 7.65536310e+00] [ 8.31312670e-03 9.99965442e-01 7.73985155e-05 -4.16423991e-01] [ 1.02671466e-01 -9.30542516e-04 9.94714886e-01 4.16888828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters Centerline goodness : 0.952196 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.42, Z:0.42 [[ 9.94676261e-01 -8.76610238e-03 -1.02675659e-01 7.68346715e+00] [ 8.81981207e-03 9.99961102e-01 6.91136411e-05 -4.16872887e-01] [ 1.02671059e-01 -9.74325714e-04 9.94714886e-01 4.19654911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38538474999999 meters Centerline goodness : 0.948450 Centerline is valid? [True, False] Translation: X:7.69, Y:-0.42, Z:0.42 [[ 9.94560778e-01 -6.80257047e-03 -1.03935481e-01 7.68864399e+00] [ 7.25697504e-03 9.99965690e-01 3.99445557e-03 -4.17958806e-01] [ 1.03904743e-01 -4.72698603e-03 9.94576020e-01 4.20092853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters Centerline goodness : 0.949390 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.42, Z:0.42 [[ 9.94435814e-01 -4.26018899e-03 -1.05258073e-01 7.69279382e+00] [ 5.13411317e-03 9.99954554e-01 8.03311902e-03 -4.19093393e-01] [ 1.05219067e-01 -8.52882811e-03 9.94412493e-01 4.21009162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44538474999999 meters Centerline goodness : 0.945485 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:0.42 [[ 9.94811843e-01 1.32048586e-04 -1.01731896e-01 7.70852152e+00] [ 1.21644906e-04 9.99996899e-01 2.48753812e-03 -4.14656730e-01] [ 1.01731909e-01 -2.48700755e-03 9.94808742e-01 4.19155037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters Centerline goodness : 0.946975 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:0.42 [[ 9.94727359e-01 4.84324152e-03 -1.02440349e-01 7.70944680e+00] [-4.21593566e-03 9.99971020e-01 6.33924642e-03 -4.11739003e-01] [ 1.02468083e-01 -5.87393992e-03 9.94718950e-01 4.19939409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50538474999999 meters Centerline goodness : 0.947323 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:0.42 [[ 9.94580013e-01 7.88599248e-03 -1.03674535e-01 7.71273022e+00] [-6.82993096e-03 9.99921155e-01 1.05373791e-02 -4.11708384e-01] [ 1.03749458e-01 -9.77217677e-03 9.94555456e-01 4.21326430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53538474999999 meters Centerline goodness : 0.945695 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:0.42 [[ 9.94530265e-01 7.71428307e-03 -1.04163536e-01 7.71435992e+00] [-6.67939664e-03 9.99924847e-01 1.02803846e-02 -4.10047032e-01] [ 1.04235013e-01 -9.52840403e-03 9.94507050e-01 4.20861396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56538474999999 meters Centerline goodness : 0.946877 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.41, Z:0.42 [[ 0.99436818 0.01090707 -0.10541798 7.7176332 ] [-0.00942831 0.99985019 0.01451575 -0.41044116] [ 0.10556051 -0.01344008 0.99432205 0.42229507] [ 0. 0. 0. 1. ]] SLAMing on 95.59538475 meters Centerline goodness : 0.946014 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.41, Z:0.42 [[ 0.99428145 0.0108966 -0.10623399 7.71930344] [-0.00937864 0.99984681 0.01477797 -0.41122063] [ 0.10637875 -0.01369713 0.99423134 0.42284933] [ 0. 0. 0. 1. ]] SLAMing on 95.62538475 meters Centerline goodness : 0.944199 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.41, Z:0.42 [[ 0.99423928 0.01068949 -0.10664893 7.7206012 ] [-0.00917579 0.99985023 0.01467401 -0.41114665] [ 0.10678981 -0.01361088 0.99418845 0.42258197] [ 0. 0. 0. 1. ]] SLAMing on 95.65538475 meters Centerline goodness : 0.944766 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.41, Z:0.42 [[ 0.99417654 0.01019877 -0.10727997 7.7225869 ] [-0.00867724 0.99985518 0.01464004 -0.41099376] [ 0.10741374 -0.01362389 0.99412106 0.42257658] [ 0. 0. 0. 1. ]] SLAMing on 95.68538475 meters Centerline goodness : 0.944655 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.41, Z:0.42 [[ 0.99409552 0.00961586 -0.10808159 7.72532499] [-0.00806375 0.99985813 0.01478837 -0.41155547] [ 0.10820846 -0.01382951 0.99403203 0.42251413] [ 0. 0. 0. 1. ]] SLAMing on 95.71538475 meters Centerline goodness : 0.943786 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.41, Z:0.42 [[ 9.94046530e-01 9.15181405e-03 -1.08571364e-01 7.72718786e+00] [-7.59782412e-03 9.99862815e-01 1.47181338e-02 -4.11987520e-01] [ 1.08691167e-01 -1.38056037e-02 9.93979696e-01 4.22152413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74538474999999 meters Centerline goodness : 0.944686 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.41, Z:0.42 [[ 9.93963085e-01 9.14626541e-03 -1.09333123e-01 7.72867101e+00] [-7.47819023e-03 9.99849454e-01 1.56571349e-02 -4.14358220e-01] [ 1.09459868e-01 -1.47450002e-02 9.93881845e-01 4.23579592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77538474999999 meters Centerline goodness : 0.945979 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.42, Z:0.42 [[ 9.93860153e-01 8.71828553e-03 -1.10299535e-01 7.73131438e+00] [-6.99356330e-03 9.99847310e-01 1.60139429e-02 -4.16493568e-01] [ 1.10422307e-01 -1.51442329e-02 9.93769373e-01 4.23881397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80538474999999 meters Centerline goodness : 0.945600 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.42, Z:0.42 [[ 9.93776365e-01 7.82289614e-03 -1.11118578e-01 7.73431904e+00] [-6.10122561e-03 9.99856153e-01 1.58255898e-02 -4.17480821e-01] [ 1.11226396e-01 -1.50491376e-02 9.93681142e-01 4.23372665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83538474999999 meters Centerline goodness : 0.943010 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.42, Z:0.42 [[ 9.93658276e-01 6.41633674e-03 -1.12258905e-01 7.73834239e+00] [-4.67149068e-03 9.99864272e-01 1.57991964e-02 -4.19858557e-01] [ 1.12345042e-01 -1.51745858e-02 9.93553382e-01 4.23285193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86538474999999 meters Centerline goodness : 0.944947 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.42, Z:0.42 [[ 9.93575873e-01 5.65227488e-03 -1.13026706e-01 7.74108352e+00] [-3.88687136e-03 9.99867086e-01 1.58336208e-02 -4.21292651e-01] [ 1.13101179e-01 -1.52925833e-02 9.93465782e-01 4.23032460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89538474999999 meters Centerline goodness : 0.943670 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.42, Z:0.42 [[ 9.93428869e-01 3.89046032e-03 -1.14385077e-01 7.74668714e+00] [-2.11228157e-03 9.99875102e-01 1.56626456e-02 -4.23515810e-01] [ 1.14431725e-01 -1.53181108e-02 9.93313010e-01 4.22074078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92538474999999 meters Centerline goodness : 0.943670 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.42, Z:0.42 [[ 9.93428869e-01 3.89046032e-03 -1.14385077e-01 7.74668714e+00] [-2.11228157e-03 9.99875102e-01 1.56626456e-02 -4.23515810e-01] [ 1.14431725e-01 -1.53181108e-02 9.93313010e-01 4.22074078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95538475 meters Centerline goodness : 0.940248 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.42, Z:0.42 [[ 9.93337365e-01 2.88715219e-03 -1.15206523e-01 7.74976203e+00] [-1.10963933e-03 9.99879406e-01 1.54900761e-02 -4.24153090e-01] [ 1.15237352e-01 -1.52590337e-02 9.93220778e-01 4.21641040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98538475 meters Centerline goodness : 0.947632 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.43, Z:0.43 [[ 9.93265975e-01 -5.15945732e-03 -1.15741446e-01 7.75521150e+00] [ 7.14553064e-03 9.99834155e-01 1.67512232e-02 -4.29787515e-01] [ 1.15635824e-01 -1.74654541e-02 9.93138114e-01 4.31500349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01538475 meters Centerline goodness : 0.947409 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.43, Z:0.43 [[ 9.93124210e-01 -6.85796397e-03 -1.16864331e-01 7.75987076e+00] [ 8.76795337e-03 9.99836137e-01 1.58373949e-02 -4.28567954e-01] [ 1.16736569e-01 -1.67531613e-02 9.93021603e-01 4.30210381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04538475 meters Centerline goodness : 0.938233 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.43, Z:0.43 [[ 9.92875759e-01 -4.50475916e-03 -1.19069029e-01 7.77350038e+00] [ 6.97902572e-03 9.99768125e-01 2.03712994e-02 -4.25275345e-01] [ 1.18949652e-01 -2.10571552e-02 9.92676975e-01 4.25511259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07538475 meters Centerline goodness : 0.936900 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.43, Z:0.43 [[ 9.92759766e-01 -5.62630322e-03 -1.19984965e-01 7.77684508e+00] [ 8.09172110e-03 9.99765824e-01 2.00704270e-02 -4.25423081e-01] [ 1.19843945e-01 -2.08959973e-02 9.92572812e-01 4.25165402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10538475 meters Centerline goodness : 0.937931 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.42, Z:0.42 [[ 9.93270387e-01 -5.31762218e-03 -1.15696415e-01 7.79324293e+00] [ 6.79329774e-03 9.99900484e-01 1.23641556e-02 -4.24230921e-01] [ 1.15619154e-01 -1.30669098e-02 9.93207666e-01 4.23034527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13538474999999 meters Centerline goodness : 0.940719 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.42, Z:0.42 [[ 9.93201012e-01 -5.37101701e-03 -1.16288011e-01 7.79424074e+00] [ 6.89244003e-03 9.99895786e-01 1.26850664e-02 -4.24301482e-01] [ 1.16207761e-01 -1.34003289e-02 9.93134526e-01 4.23907237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16538474999999 meters Centerline goodness : 0.942950 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.42, Z:0.42 [[ 9.93733880e-01 -3.44874087e-03 -1.11718760e-01 7.80981425e+00] [ 4.25018106e-03 9.99966911e-01 6.93636558e-03 -4.22712584e-01] [ 1.11691142e-01 -7.36772644e-03 9.93715656e-01 4.23212364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19538474999999 meters Centerline goodness : 0.941672 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.42, Z:0.42 [[ 9.93643486e-01 -1.05559633e-04 -1.12572694e-01 7.81206860e+00] [ 1.37187898e-03 9.99936656e-01 1.11714984e-02 -4.23627980e-01] [ 1.12564383e-01 -1.12549227e-02 9.93580689e-01 4.24469958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22538474999999 meters Centerline goodness : 0.942916 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:0.43 [[ 9.93509783e-01 3.16840394e-03 -1.13702559e-01 7.81555620e+00] [-1.46789035e-03 9.99885869e-01 1.50364153e-02 -4.22159058e-01] [ 1.13737224e-01 -1.47719228e-02 9.93401044e-01 4.25164961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25538474999999 meters Centerline goodness : 0.941967 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:0.42 [[ 9.93457408e-01 3.12542200e-03 -1.14160461e-01 7.81684454e+00] [-1.45316081e-03 9.99890472e-01 1.47286222e-02 -4.20035035e-01] [ 1.14193990e-01 -1.44663654e-02 9.93353138e-01 4.24786859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28538474999999 meters Centerline goodness : 0.940991 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:0.43 [[ 9.93318955e-01 7.17876507e-03 -1.15177769e-01 7.81867163e+00] [-5.05658949e-03 9.99812225e-01 1.87068295e-02 -4.18676712e-01] [ 1.15290433e-01 -1.79994416e-02 9.93168735e-01 4.26136097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31538474999999 meters Centerline goodness : 0.940894 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:0.43 [[ 0.9931567 0.01096268 -0.11627375 7.82078931] [-0.00832606 0.99969762 0.02313754 -0.41908904] [ 0.11649224 -0.0220111 0.99294767 0.42791737] [ 0. 0. 0. 1. ]] SLAMing on 96.34538475 meters Centerline goodness : 0.939999 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:0.43 [[ 0.99298693 0.01515021 -0.11724943 7.82250655] [-0.01209945 0.99957059 0.02668765 -0.41652722] [ 0.1176034 -0.02508183 0.99274384 0.42879405] [ 0. 0. 0. 1. ]] SLAMing on 96.37538475 meters Centerline goodness : 0.939694 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.41, Z:0.43 [[ 0.99335029 0.01894625 -0.1135616 7.83803171] [-0.01676167 0.99965623 0.02016107 -0.4121572 ] [ 0.11390454 -0.01812353 0.99332638 0.42578947] [ 0. 0. 0. 1. ]] SLAMing on 96.40538475 meters Centerline goodness : 0.936681 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.41, Z:0.43 [[ 0.99329082 0.01897006 -0.11407663 7.83940914] [-0.0168258 0.99966375 0.01973033 -0.41036866] [ 0.11441256 -0.01767852 0.99327601 0.42527856] [ 0. 0. 0. 1. ]] SLAMing on 96.43538475 meters Centerline goodness : 0.937855 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.41, Z:0.42 [[ 0.99323612 0.01870607 -0.11459535 7.84102501] [-0.01659187 0.9996746 0.01937546 -0.40895943] [ 0.11492049 -0.01734306 0.99322329 0.42491681] [ 0. 0. 0. 1. ]] SLAMing on 96.46538475 meters Centerline goodness : 0.939146 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.41, Z:0.43 [[ 0.99301022 0.02180003 -0.11599766 7.84489862] [-0.01920899 0.99954143 0.02340832 -0.40964118] [ 0.11645477 -0.0210165 0.99297361 0.42597391] [ 0. 0. 0. 1. ]] SLAMing on 96.49538474999999 meters Centerline goodness : 0.939760 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.41, Z:0.43 [[ 0.99295224 0.02122396 -0.11659928 7.84649395] [-0.01859631 0.99954903 0.02357775 -0.41051998] [ 0.11704711 -0.02124326 0.99289914 0.42661747] [ 0. 0. 0. 1. ]] SLAMing on 96.52538474999999 meters Centerline goodness : 0.942041 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.41, Z:0.43 [[ 0.99284721 0.02026012 -0.11766032 7.84996062] [-0.01763244 0.99957229 0.02333105 -0.4110273 ] [ 0.11808269 -0.02108953 0.99277979 0.42627611] [ 0. 0. 0. 1. ]] SLAMing on 96.55538474999999 meters Centerline goodness : 0.942522 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.41, Z:0.43 [[ 0.99277786 0.01928204 -0.11840749 7.85254912] [-0.01665876 0.99959425 0.02310473 -0.41204875] [ 0.11880495 -0.02096534 0.99269625 0.42597595] [ 0. 0. 0. 1. ]] SLAMing on 96.58538474999999 meters Centerline goodness : 0.941797 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.41, Z:0.43 [[ 0.99266006 0.01789237 -0.1196071 7.85701923] [-0.01523676 0.99961749 0.02308054 -0.41377332] [ 0.11997432 -0.02108871 0.99255299 0.42559137] [ 0. 0. 0. 1. ]] SLAMing on 96.61538474999999 meters Centerline goodness : 0.940947 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.41, Z:0.42 [[ 0.9925923 0.01715549 -0.12027559 7.85961116] [-0.01450523 0.99963308 0.02287588 -0.4146047 ] [ 0.1206239 -0.0209618 0.99247694 0.42492553] [ 0. 0. 0. 1. ]] SLAMing on 96.64538474999999 meters Centerline goodness : 0.941685 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.42, Z:0.42 [[ 0.99245935 0.01639852 -0.12147233 7.86319273] [-0.01370778 0.99964255 0.0229537 -0.41680216] [ 0.12180532 -0.02111549 0.99232938 0.42479805] [ 0. 0. 0. 1. ]] SLAMing on 96.67538474999999 meters Centerline goodness : 0.940342 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.42, Z:0.42 [[ 0.99232832 0.01565111 -0.12263582 7.86676497] [-0.01294793 0.999656 0.02280842 -0.41813799] [ 0.12295061 -0.02104556 0.99218962 0.42439632] [ 0. 0. 0. 1. ]] SLAMing on 96.70538475 meters Centerline goodness : 0.940222 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.42, Z:0.42 [[ 0.99226971 0.01523966 -0.12316075 7.86866745] [-0.0125293 0.99966264 0.02275137 -0.418525 ] [ 0.12346592 -0.02103238 0.9921259 0.42409099] [ 0. 0. 0. 1. ]] SLAMing on 96.73538475 meters Centerline goodness : 0.938351 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.42, Z:0.42 [[ 0.99219046 0.0148433 -0.12384574 7.87067336] [-0.01211621 0.99966789 0.02274425 -0.41883364] [ 0.12414221 -0.02106609 0.99204079 0.4240611 ] [ 0. 0. 0. 1. ]] SLAMing on 96.76538475 meters Centerline goodness : 0.939451 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:0.43 [[ 0.99197159 0.01745467 -0.12525056 7.87510636] [-0.01419417 0.99953796 0.02687726 -0.42065747] [ 0.12566182 -0.02488365 0.99176101 0.42539008] [ 0. 0. 0. 1. ]] SLAMing on 96.79538475 meters Centerline goodness : 0.939450 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:0.43 [[ 0.99185841 0.0170226 -0.12620276 7.87787734] [-0.01377403 0.99955208 0.02656905 -0.42022524] [ 0.1265985 -0.02461441 0.9916486 0.42507962] [ 0. 0. 0. 1. ]] SLAMing on 96.82538475 meters Centerline goodness : 0.938681 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:0.42 [[ 0.99178094 0.01653944 -0.12687402 7.87992523] [-0.0133082 0.9995662 0.02627373 -0.41944152] [ 0.12725353 -0.02436932 0.99157081 0.42487051] [ 0. 0. 0. 1. ]] SLAMing on 96.85538475 meters Centerline goodness : 0.939674 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:0.42 [[ 0.99165516 0.01623955 -0.12789185 7.88268186] [-0.01303929 0.99958154 0.02582085 -0.41815815] [ 0.12825766 -0.02393776 0.99145194 0.42440241] [ 0. 0. 0. 1. ]] SLAMing on 96.88538474999999 meters Centerline goodness : 0.938036 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.42, Z:0.42 [[ 0.99155839 0.01528405 -0.12875694 7.88559766] [-0.01210865 0.99960381 0.02540882 -0.41799718] [ 0.12909428 -0.02363525 0.99135062 0.42399386] [ 0. 0. 0. 1. ]] SLAMing on 96.91538474999999 meters Centerline goodness : 0.936289 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.42, Z:0.42 [[ 0.99147058 0.01465373 -0.1295043 7.88828881] [-0.0115132 0.999622 0.02496591 -0.41730369] [ 0.12982119 -0.02326196 0.99126452 0.42322218] [ 0. 0. 0. 1. ]] SLAMing on 96.94538474999999 meters Centerline goodness : 0.935034 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.42, Z:0.42 [[ 0.99132834 0.01377259 -0.13068453 7.89169804] [-0.01061307 0.99963504 0.02484252 -0.41775033] [ 0.13097898 -0.02324013 0.99111271 0.42340275] [ 0. 0. 0. 1. ]] SLAMing on 96.97538474999999 meters Centerline goodness : 0.932862 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.42 [[ 0.99115115 0.01204453 -0.1321905 7.89672657] [-0.0089098 0.9996655 0.02427972 -0.41746331] [ 0.13243872 -0.02288709 0.99092692 0.42313368] [ 0. 0. 0. 1. ]] SLAMing on 97.00538474999999 meters Centerline goodness : 0.931742 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.42 [[ 0.99104394 0.0111086 -0.13307335 7.899723 ] [-0.00799977 0.99968297 0.02387372 -0.41690909] [ 0.13329637 -0.02259535 0.99081862 0.42280932] [ 0. 0. 0. 1. ]] SLAMing on 97.03538474999999 meters Centerline goodness : 0.930702 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.42 [[ 9.90887923e-01 1.07999191e-02 -1.34255304e-01 7.90286283e+00] [-7.72757937e-03 9.99696681e-01 2.33843884e-02 -4.15655631e-01] [ 1.34467132e-01 -2.21338395e-02 9.90670825e-01 4.22333542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06538474999999 meters Centerline goodness : 0.929485 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.41, Z:0.42 [[ 9.90792031e-01 1.04686407e-02 -1.34987254e-01 7.90499933e+00] [-7.40202219e-03 9.99703447e-01 2.31997577e-02 -4.14797921e-01] [ 1.35190093e-01 -2.19869564e-02 9.90575698e-01 4.22172196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09538475 meters Centerline goodness : 0.927996 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.41, Z:0.42 [[ 9.90659122e-01 1.00810632e-02 -1.35988517e-01 7.90787153e+00] [-7.04759733e-03 9.99715893e-01 2.27698089e-02 -4.14327873e-01] [ 1.36179426e-01 -2.15987266e-02 9.90448716e-01 4.21755467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12538475 meters Centerline goodness : 0.931181 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.41, Z:0.42 [[ 9.90567799e-01 9.71524609e-03 -1.36678637e-01 7.90991026e+00] [-6.67527529e-03 9.99720433e-01 2.26825299e-02 -4.14029762e-01] [ 1.36860793e-01 -2.15562161e-02 9.90355720e-01 4.21733814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15538475 meters Centerline goodness : 0.931220 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.42, Z:0.42 [[ 0.99026405 0.01288855 -0.13860377 7.91453848] [-0.00916086 0.99957985 0.02749895 -0.41577131] [ 0.13889996 -0.02596149 0.98996606 0.42432377] [ 0. 0. 0. 1. ]] SLAMing on 97.18538475 meters Centerline goodness : 0.931906 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.42, Z:0.42 [[ 0.99019141 0.01259877 -0.13914824 7.91628144] [-0.00888659 0.99958868 0.02726709 -0.41556483] [ 0.13943454 -0.02576309 0.98989609 0.42403878] [ 0. 0. 0. 1. ]] SLAMing on 97.21538475 meters Centerline goodness : 0.935363 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.41, Z:0.42 [[ 0.99076997 0.01275335 -0.13495262 7.93339089] [-0.01029279 0.99976812 0.01891481 -0.41332069] [ 0.13516255 -0.01735118 0.9906715 0.42090512] [ 0. 0. 0. 1. ]] SLAMing on 97.24538474999999 meters Centerline goodness : 0.935688 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.41, Z:0.42 [[ 0.99055653 0.01657769 -0.13609899 7.93589102] [-0.01350477 0.9996333 0.02347091 -0.41457063] [ 0.13643817 -0.02141128 0.99041718 0.4228665 ] [ 0. 0. 0. 1. ]] SLAMing on 97.27538474999999 meters Centerline goodness : 0.935531 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.41, Z:0.42 [[ 0.99112479 0.01721204 -0.13181574 7.95179994] [-0.01533408 0.99976614 0.01524875 -0.4121084 ] [ 0.13204738 -0.01309214 0.99115694 0.4195662 ] [ 0. 0. 0. 1. ]] SLAMing on 97.30538474999999 meters Centerline goodness : 0.934211 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.41, Z:0.42 [[ 0.99083878 0.02035226 -0.13350766 7.95657197] [-0.01793212 0.99965282 0.01930494 -0.41219405] [ 0.13385421 -0.016734 0.99085974 0.42077577] [ 0. 0. 0. 1. ]] SLAMing on 97.33538474999999 meters Centerline goodness : 0.932862 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.41, Z:0.42 [[ 0.99076465 0.02013498 -0.13408949 7.95871087] [-0.0177501 0.99966271 0.01895763 -0.41073687] [ 0.13442598 -0.01640245 0.99078788 0.42002387] [ 0. 0. 0. 1. ]] SLAMing on 97.36538474999999 meters Centerline goodness : 0.931328 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.41, Z:0.42 [[ 0.99052505 0.02324848 -0.13535006 7.96242632] [-0.02031844 0.99952921 0.02298935 -0.41129476] [ 0.1358208 -0.02002143 0.9905311 0.42097472] [ 0. 0. 0. 1. ]] SLAMing on 97.39538474999999 meters Centerline goodness : 0.930756 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.41, Z:0.42 [[ 0.99099098 0.02474582 -0.13162263 7.980529 ] [-0.02277494 0.99960513 0.01645835 -0.40910729] [ 0.13197793 -0.01331238 0.99116326 0.4187932 ] [ 0. 0. 0. 1. ]] SLAMing on 97.42538474999999 meters Centerline goodness : 0.933796 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.41, Z:0.42 [[ 0.99073994 0.02926221 -0.13258243 7.98189977] [-0.02661463 0.99941026 0.02169794 -0.41057229] [ 0.13313917 -0.01796839 0.99093446 0.42163171] [ 0. 0. 0. 1. ]] SLAMing on 97.45538475 meters Centerline goodness : 0.932661 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.41, Z:0.42 [[ 0.99047677 0.0328226 -0.13371031 7.98478051] [-0.02958873 0.9992213 0.02610186 -0.41157693] [ 0.13446292 -0.02189697 0.99067666 0.42320189] [ 0. 0. 0. 1. ]] SLAMing on 97.48538475 meters Centerline goodness : 0.929274 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.41, Z:0.42 [[ 0.99026997 0.03419491 -0.13489293 7.98647783] [-0.03091301 0.99917468 0.02635027 -0.40994896] [ 0.13568264 -0.02192393 0.99050975 0.42330182] [ 0. 0. 0. 1. ]] SLAMing on 97.51538475 meters Centerline goodness : 0.929906 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.41, Z:0.42 [[ 0.9902096 0.03423237 -0.13532587 7.98788812] [-0.0309632 0.99917735 0.02618972 -0.40922839] [ 0.13611108 -0.02174319 0.99045495 0.42283555] [ 0. 0. 0. 1. ]] SLAMing on 97.54538475 meters Centerline goodness : 0.929031 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.41, Z:0.42 [[ 0.98993769 0.03766554 -0.13639897 7.99152754] [-0.03380461 0.99896255 0.03051343 -0.41050691] [ 0.13740677 -0.02559548 0.99018395 0.42381809] [ 0. 0. 0. 1. ]] SLAMing on 97.57538475 meters Centerline goodness : 0.929229 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.41, Z:0.42 [[ 0.98987782 0.03728349 -0.13693739 7.99333272] [-0.03341536 0.99897791 0.03043915 -0.41058272] [ 0.1379323 -0.02555522 0.99011192 0.42364239] [ 0. 0. 0. 1. ]] SLAMing on 97.60538475 meters Centerline goodness : 0.929126 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.41, Z:0.42 [[ 0.98981396 0.03702814 -0.13746724 7.99501859] [-0.03313535 0.99898539 0.03049989 -0.41116811] [ 0.13845712 -0.02563419 0.99003662 0.42350753] [ 0. 0. 0. 1. ]] SLAMing on 97.63538474999999 meters Centerline goodness : 0.927924 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.41, Z:0.43 [[ 0.98968359 0.03524809 -0.13886673 7.99938232] [-0.03122076 0.99902935 0.03107437 -0.41455688] [ 0.13982725 -0.02641827 0.98982343 0.42505867] [ 0. 0. 0. 1. ]] SLAMing on 97.66538474999999 meters Centerline goodness : 0.927640 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.42, Z:0.42 [[ 0.98953641 0.03392014 -0.14023948 8.00433728] [-0.02990626 0.99908325 0.03063129 -0.41530254] [ 0.14114993 -0.02611674 0.98964368 0.42420597] [ 0. 0. 0. 1. ]] SLAMing on 97.69538474999999 meters Centerline goodness : 0.924466 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.41, Z:0.42 [[ 0.9894468 0.03307024 -0.14107226 8.00792558] [-0.02912528 0.99912733 0.02993829 -0.4147729 ] [ 0.14193921 -0.02551357 0.98954652 0.42268437] [ 0. 0. 0. 1. ]] SLAMing on 97.72538474999999 meters Centerline goodness : 0.917995 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.42, Z:0.42 [[ 0.98928633 0.03156489 -0.14253493 8.01383382] [-0.02765973 0.99918798 0.0292971 -0.41582315] [ 0.14334395 -0.02504074 0.98935609 0.42103637] [ 0. 0. 0. 1. ]] SLAMing on 97.75538474999999 meters Centerline goodness : 0.920088 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.42, Z:0.42 [[ 0.9891854 0.03109604 -0.14333627 8.01620979] [-0.0271279 0.99919493 0.02955625 -0.41681892] [ 0.14413995 -0.0253482 0.9892326 0.42135363] [ 0. 0. 0. 1. ]] SLAMing on 97.78538474999999 meters Centerline goodness : 0.923012 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.42, Z:0.42 [[ 0.98981444 0.02973449 -0.1392237 8.03386885] [-0.02703624 0.99940894 0.02123243 -0.4172317 ] [ 0.13977274 -0.01725208 0.99003331 0.41975075] [ 0. 0. 0. 1. ]] SLAMing on 97.81538474999999 meters Centerline goodness : 0.924386 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.42, Z:0.42 [[ 0.98972364 0.02939665 -0.13993909 8.03497547] [-0.02657053 0.99940436 0.02202139 -0.41920796] [ 0.14050309 -0.01807684 0.9899152 0.42155092] [ 0. 0. 0. 1. ]] SLAMing on 97.84538475 meters Centerline goodness : 0.924386 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.42, Z:0.42 [[ 0.98972364 0.02939665 -0.13993909 8.03497547] [-0.02657053 0.99940436 0.02202139 -0.41920796] [ 0.14050309 -0.01807684 0.9899152 0.42155092] [ 0. 0. 0. 1. ]] SLAMing on 97.87538475 meters Centerline goodness : 0.928141 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.42, Z:0.43 [[ 0.98950727 0.03017463 -0.14129705 8.04182863] [-0.02633471 0.99923337 0.02896809 -0.42262335] [ 0.14206283 -0.02494312 0.98954333 0.42814818] [ 0. 0. 0. 1. ]] SLAMing on 97.90538475 meters Centerline goodness : 0.927637 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.42, Z:0.43 [[ 0.98942937 0.0295969 -0.14196321 8.0442973 ] [-0.02573818 0.9992497 0.02894119 -0.4222213 ] [ 0.14271327 -0.02498139 0.98944876 0.42798291] [ 0. 0. 0. 1. ]] SLAMing on 97.93538475 meters Centerline goodness : 0.930537 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.43, Z:0.43 [[ 0.98918799 0.03089496 -0.14336186 8.05148968] [-0.02595259 0.99900686 0.03621805 -0.42603527] [ 0.14433844 -0.03210585 0.9890074 0.43414218] [ 0. 0. 0. 1. ]] SLAMing on 97.96538475 meters Centerline goodness : 0.925604 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.43, Z:0.43 [[ 0.98911684 0.03057887 -0.14391946 8.05321387] [-0.02562534 0.99901786 0.03614783 -0.42631578] [ 0.14488347 -0.03206644 0.98892898 0.43405037] [ 0. 0. 0. 1. ]] SLAMing on 97.99538474999999 meters Centerline goodness : 0.926241 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.43, Z:0.43 [[ 0.98914064 0.02582127 -0.14468609 8.05606301] [-0.02145573 0.99926862 0.03165229 -0.42690144] [ 0.14539757 -0.02820422 0.98897122 0.43237474] [ 0. 0. 0. 1. ]] SLAMing on 98.02538474999999 meters Centerline goodness : 0.930465 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.43, Z:0.43 [[ 0.98903833 0.02519761 -0.14549315 8.05847269] [-0.02080785 0.9992835 0.0316152 -0.42824397] [ 0.14618553 -0.02824125 0.988854 0.43236759] [ 0. 0. 0. 1. ]] SLAMing on 98.05538474999999 meters Centerline goodness : 0.923744 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.43, Z:0.43 [[ 0.98887344 0.02431688 -0.14675834 8.06305787] [-0.01993954 0.99931348 0.03122478 -0.42930842] [ 0.14741688 -0.02795106 0.98867942 0.43115601] [ 0. 0. 0. 1. ]] SLAMing on 98.08538474999999 meters Centerline goodness : 0.924054 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.43, Z:0.43 [[ 0.98878929 0.02377902 -0.147412 8.06535031] [-0.01943592 0.99933556 0.03083321 -0.42940326] [ 0.14804723 -0.02762246 0.98859447 0.43050484] [ 0. 0. 0. 1. ]] SLAMing on 98.11538474999999 meters Centerline goodness : 0.923096 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.43, Z:0.43 [[ 0.98860129 0.02192467 -0.14895233 8.07103469] [-0.01756388 0.99937955 0.03052921 -0.43044976] [ 0.14952925 -0.02756504 0.98837299 0.43012917] [ 0. 0. 0. 1. ]] SLAMing on 98.14538474999999 meters Centerline goodness : 0.922080 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.43, Z:0.43 [[ 0.988498 0.02107002 -0.14975903 8.0737481 ] [-0.01676575 0.9994109 0.0299461 -0.42988435] [ 0.15030177 -0.02709084 0.98826892 0.42956161] [ 0. 0. 0. 1. ]] SLAMing on 98.17538474999999 meters Centerline goodness : 0.922390 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.43, Z:0.43 [[ 0.98845559 0.01501911 -0.15076461 8.07831711] [-0.01133187 0.99961602 0.02528638 -0.42967816] [ 0.15108649 -0.02328602 0.98824624 0.42815819] [ 0. 0. 0. 1. ]] SLAMing on 98.20538475 meters Centerline goodness : 0.921071 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.43, Z:0.43 [[ 0.98833524 0.01379133 -0.15166825 8.08186251] [-0.01013147 0.99963918 0.02487712 -0.42955718] [ 0.15195662 -0.02305032 0.98811835 0.42757932] [ 0. 0. 0. 1. ]] SLAMing on 98.23538475 meters Centerline goodness : 0.919082 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.43, Z:0.43 [[ 0.98817602 0.01217416 -0.15283961 8.08744881] [-0.00863176 0.99967901 0.02381945 -0.42881131] [ 0.15308053 -0.02221854 0.98796391 0.42541445] [ 0. 0. 0. 1. ]] SLAMing on 98.26538475 meters Centerline goodness : 0.917910 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.43, Z:0.43 [[ 0.98806697 0.01194784 -0.15356077 8.08938995] [-0.0084087 0.99968432 0.02367603 -0.42861517] [ 0.15379517 -0.02210226 0.98785552 0.42521236] [ 0. 0. 0. 1. ]] SLAMing on 98.29538475 meters Centerline goodness : 0.919790 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.43, Z:0.42 [[ 0.98871825 0.01081326 -0.14939645 8.10611572] [-0.00860727 0.99984429 0.01540472 -0.42845629] [ 0.14953977 -0.01394504 0.98865737 0.42447858] [ 0. 0. 0. 1. ]] SLAMing on 98.32538475 meters Centerline goodness : 0.922017 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.43, Z:0.43 [[ 0.98862089 0.01061158 -0.15005376 8.10769472] [-0.00834028 0.99984105 0.01575779 -0.42883378] [ 0.15019713 -0.01432699 0.98855225 0.42508582] [ 0. 0. 0. 1. ]] SLAMing on 98.35538475 meters Centerline goodness : 0.921364 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.43, Z:0.43 [[ 0.98826128 0.01246647 -0.15226368 8.11450868] [-0.009257 0.99972017 0.02176915 -0.43113909] [ 0.15249246 -0.02010411 0.98810013 0.42989535] [ 0. 0. 0. 1. ]] SLAMing on 98.38538474999999 meters Centerline goodness : 0.920739 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.43, Z:0.43 [[ 0.98814853 0.01192363 -0.15303698 8.11680061] [-0.00871631 0.99972844 0.02161164 -0.43055238] [ 0.15325311 -0.02002159 0.98798412 0.42995749] [ 0. 0. 0. 1. ]] SLAMing on 98.41538474999999 meters Centerline goodness : 0.921835 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.43, Z:0.43 [[ 0.98791517 0.01520403 -0.15424803 8.12022904] [-0.01139396 0.99960848 0.02555499 -0.43006098] [ 0.15457618 -0.02348866 0.98770162 0.43112959] [ 0. 0. 0. 1. ]] SLAMing on 98.44538474999999 meters Centerline goodness : 0.920807 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.43, Z:0.43 [[ 0.98782515 0.01502208 -0.15484126 8.12190589] [-0.01124978 0.99961888 0.02520993 -0.42835127] [ 0.15516095 -0.02316107 0.98761766 0.43079536] [ 0. 0. 0. 1. ]] SLAMing on 98.47538474999999 meters Centerline goodness : 0.926693 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.43, Z:0.43 [[ 0.98766778 0.01387943 -0.15594783 8.12438897] [-0.01002227 0.99962476 0.02549286 -0.42796287] [ 0.15624314 -0.02361553 0.98743627 0.43295612] [ 0. 0. 0. 1. ]] SLAMing on 98.50538474999999 meters Centerline goodness : 0.928997 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.43, Z:0.43 [[ 0.98757521 0.01342255 -0.15657279 8.12594024] [-0.00956298 0.99963219 0.02537766 -0.42700315] [ 0.15685583 -0.02356504 0.98734033 0.43343705] [ 0. 0. 0. 1. ]] SLAMing on 98.53538474999999 meters Centerline goodness : 0.925733 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.42, Z:0.43 [[ 0.98743106 0.01346662 -0.15747558 8.12847603] [-0.00970628 0.99964967 0.0246236 -0.4230633 ] [ 0.15775201 -0.02278561 0.98721584 0.43251664] [ 0. 0. 0. 1. ]] SLAMing on 98.56538474999999 meters Centerline goodness : 0.927806 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.42, Z:0.43 [[ 0.98734556 0.0132352 -0.15803032 8.1303975 ] [-0.00957583 0.99966861 0.02389515 -0.42078264] [ 0.15829421 -0.0220795 0.98714509 0.43153221] [ 0. 0. 0. 1. ]] SLAMing on 98.59538475 meters Centerline goodness : 0.926504 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.42, Z:0.43 [[ 0.98711891 0.01729801 -0.15905042 8.13313815] [-0.01309664 0.99953805 0.02742575 -0.42002703] [ 0.15945136 -0.02498945 0.98688945 0.43163616] [ 0. 0. 0. 1. ]] SLAMing on 98.62538475 meters Centerline goodness : 0.923914 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.42, Z:0.43 [[ 0.98687303 0.0208202 -0.1601504 8.1362413 ] [-0.0159691 0.99937559 0.03151866 -0.42115074] [ 0.16070662 -0.02854746 0.98658929 0.43262468] [ 0. 0. 0. 1. ]] SLAMing on 98.65538475 meters Centerline goodness : 0.925541 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.42, Z:0.43 [[ 0.98683919 0.01774005 -0.16072864 8.13653292] [-0.01351149 0.99953423 0.02736361 -0.41943082] [ 0.16113921 -0.0248318 0.98661925 0.43187039] [ 0. 0. 0. 1. ]] SLAMing on 98.68538475 meters Centerline goodness : 0.925584 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.42, Z:0.43 [[ 0.98674025 0.0172953 -0.16138326 8.13854034] [-0.01310223 0.99954929 0.02701031 -0.41886658] [ 0.16177768 -0.02453768 0.98652212 0.43152901] [ 0. 0. 0. 1. ]] SLAMing on 98.71538475 meters Centerline goodness : 0.925112 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.42, Z:0.43 [[ 0.98660028 0.01636565 -0.16233312 8.14192834] [-0.01217554 0.99956738 0.02677321 -0.41894664] [ 0.16270106 -0.02443797 0.98637272 0.43128826] [ 0. 0. 0. 1. ]] SLAMing on 98.74538474999999 meters Centerline goodness : 0.926055 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.42, Z:0.43 [[ 0.98652086 0.01574008 -0.16287678 8.14409113] [-0.01157021 0.99958136 0.02651841 -0.41902238] [ 0.163226 -0.02427645 0.98628998 0.43085801] [ 0. 0. 0. 1. ]] SLAMing on 98.77538474999999 meters Centerline goodness : 0.926635 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.42, Z:0.43 [[ 0.98635384 0.01524144 -0.16393228 8.14681874] [-0.01098721 0.99957972 0.0268267 -0.42004722] [ 0.16427226 -0.02465946 0.98610676 0.43156557] [ 0. 0. 0. 1. ]] SLAMing on 98.80538474999999 meters Centerline goodness : 0.925453 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.42, Z:0.43 [[ 0.98624365 0.01477307 -0.16463665 8.14862526] [-0.01047522 0.99958209 0.02694285 -0.42070485] [ 0.16496587 -0.02484761 0.98598624 0.43206156] [ 0. 0. 0. 1. ]] SLAMing on 98.83538474999999 meters Centerline goodness : 0.928369 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.42, Z:0.43 [[ 0.98602556 0.01326187 -0.16606543 8.15245327] [-0.00872802 0.99956977 0.02800168 -0.42357675] [ 0.16636534 -0.02616095 0.98571709 0.43474508] [ 0. 0. 0. 1. ]] SLAMing on 98.86538474999999 meters Centerline goodness : 0.926227 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.42, Z:0.43 [[ 0.98593195 0.01278351 -0.16665764 8.15461085] [-0.0082527 0.99957803 0.02785058 -0.42377464] [ 0.16694335 -0.0260834 0.98562142 0.43430595] [ 0. 0. 0. 1. ]] SLAMing on 98.89538474999999 meters Centerline goodness : 0.925160 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.42, Z:0.43 [[ 9.85832991e-01 1.21359474e-02 -1.67290262e-01 8.15767099e+00] [-7.60051005e-03 9.99586697e-01 2.77248534e-02 -4.24087043e-01] [ 1.67557588e-01 -2.60605838e-02 9.85517783e-01 4.33505935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92538474999999 meters Centerline goodness : 0.926029 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.43, Z:0.43 [[ 9.85707140e-01 1.14340777e-02 -1.68079436e-01 8.16018817e+00] [-6.84105169e-03 9.99587862e-01 2.78802208e-02 -4.25321608e-01] [ 1.68328949e-01 -2.63318926e-02 9.85379113e-01 4.33753897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95538475 meters Centerline goodness : 0.928101 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.43, Z:0.43 [[ 9.85551438e-01 1.06621624e-02 -1.69040475e-01 8.16297725e+00] [-5.99674952e-03 9.99587525e-01 2.80859327e-02 -4.27807646e-01] [ 1.69270207e-01 -2.66664380e-02 9.85208860e-01 4.34315163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98538475 meters Centerline goodness : 0.930194 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.43, Z:0.43 [[ 9.85427716e-01 1.03590784e-02 -1.69778990e-01 8.16481123e+00] [-5.66900657e-03 9.99589432e-01 2.80860966e-02 -4.28697300e-01] [ 1.70000230e-01 -2.67143398e-02 9.85081857e-01 4.34490541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01538475 meters Centerline goodness : 0.928318 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.43, Z:0.43 [[ 9.85256312e-01 9.85787034e-03 -1.70800535e-01 8.16773175e+00] [-5.17171364e-03 9.99598465e-01 2.78596819e-02 -4.28816637e-01] [ 1.71006589e-01 -2.65655960e-02 9.84911679e-01 4.34371066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04538475 meters Centerline goodness : 0.926780 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.43, Z:0.43 [[ 9.85124302e-01 8.84211821e-03 -1.71615637e-01 8.17074263e+00] [-4.17758194e-03 9.99612461e-01 2.75222826e-02 -4.28813418e-01] [ 1.71792484e-01 -2.63959310e-02 9.84779466e-01 4.34088476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07538475 meters Centerline goodness : 0.927159 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.43, Z:0.43 [[ 9.84856091e-01 5.23105892e-03 -1.73294882e-01 8.17775775e+00] [-6.08148077e-04 9.99642801e-01 2.67189199e-02 -4.29632067e-01] [ 1.73372749e-01 -2.62089020e-02 9.84507483e-01 4.34668768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10538475 meters Centerline goodness : 0.923476 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.43, Z:0.43 [[ 9.84691302e-01 3.79940487e-03 -1.74265903e-01 8.18224577e+00] [ 6.69304244e-04 9.99672628e-01 2.55771154e-02 -4.28012823e-01] [ 1.74306031e-01 -2.53022000e-02 9.84366398e-01 4.32887939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13538474999999 meters Centerline goodness : 0.918390 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.43, Z:0.43 [[ 9.84451338e-01 2.19414954e-03 -1.75643813e-01 8.18793728e+00] [ 2.13132697e-03 9.99699174e-01 2.44339786e-02 -4.26722525e-01] [ 1.75644587e-01 -2.44284173e-02 9.84150513e-01 4.31025099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16538474999999 meters Centerline goodness : 0.922069 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.43, Z:0.43 [[ 9.84300730e-01 1.54571239e-03 -1.76492731e-01 8.19016893e+00] [ 2.85175885e-03 9.99691841e-01 2.46595107e-02 -4.27820033e-01] [ 1.76476459e-01 -2.47756891e-02 9.83993000e-01 4.31804706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19538474999999 meters Centerline goodness : 0.921376 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.43, Z:0.43 [[ 9.84113472e-01 8.44587917e-04 -1.77538617e-01 8.19250995e+00] [ 3.74925949e-03 9.99666818e-01 2.55381245e-02 -4.29982980e-01] [ 1.77501033e-01 -2.57980507e-02 9.83782417e-01 4.33913105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22538474999999 meters Centerline goodness : 0.924328 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.43, Z:0.44 [[ 9.83961378e-01 5.22249223e-04 -1.78380866e-01 8.19422702e+00] [ 4.20992927e-03 9.99649193e-01 2.61489583e-02 -4.31296246e-01] [ 1.78331945e-01 -2.64805359e-02 9.83613999e-01 4.35287188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25538474999999 meters Centerline goodness : 0.928895 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:0.44 [[ 9.83760133e-01 -2.56385411e-05 -1.79488162e-01 8.19669581e+00] [ 4.95297242e-03 9.99623054e-01 2.70040536e-02 -4.33539430e-01] [ 1.79419812e-01 -2.74545113e-02 9.83389435e-01 4.37193317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28538474999999 meters Centerline goodness : 0.929128 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:0.44 [[ 9.83646678e-01 -5.51122336e-04 -1.80108050e-01 8.19865310e+00] [ 5.48360728e-03 9.99623371e-01 2.68895106e-02 -4.33878879e-01] [ 1.80025396e-01 -2.74374196e-02 9.83279230e-01 4.37166768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31538474999999 meters Centerline goodness : 0.927817 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:0.44 [[ 9.83444686e-01 -1.76749734e-03 -1.81199958e-01 8.20271885e+00] [ 6.68216196e-03 9.99626055e-01 2.65160121e-02 -4.34098896e-01] [ 1.81085332e-01 -2.72878387e-02 9.83088743e-01 4.36768848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34538475 meters Centerline goodness : 0.928450 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:0.44 [[ 9.83301083e-01 -2.24902354e-03 -1.81972312e-01 8.20467552e+00] [ 7.20581450e-03 9.99620646e-01 2.65826970e-02 -4.34181060e-01] [ 1.81843495e-01 -2.74500534e-02 9.82944270e-01 4.37302695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37538475 meters Centerline goodness : 0.928614 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:0.44 [[ 9.83092328e-01 -2.94163150e-03 -1.83086922e-01 8.20762563e+00] [ 7.94133338e-03 9.99615129e-01 2.65806236e-02 -4.34691529e-01] [ 1.82938267e-01 -2.75851614e-02 9.82737325e-01 4.37928891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40538475 meters Centerline goodness : 0.928905 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:0.44 [[ 9.82942278e-01 -3.56358412e-03 -1.83879792e-01 8.20991759e+00] [ 8.58047826e-03 9.99612117e-01 2.64950973e-02 -4.34694272e-01] [ 1.83714051e-01 -2.76209278e-02 9.82591589e-01 4.38222353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43538475 meters Centerline goodness : 0.928446 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:0.44 [[ 9.82822557e-01 -4.12065166e-03 -1.84507023e-01 8.21211634e+00] [ 9.10074670e-03 9.99616534e-01 2.61526501e-02 -4.33962828e-01] [ 1.84328505e-01 -2.73825661e-02 9.82483179e-01 4.37971316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46538475 meters Centerline goodness : 0.928998 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:0.44 [[ 9.82673983e-01 -4.75977544e-03 -1.85281374e-01 8.21475864e+00] [ 9.70246481e-03 9.99620578e-01 2.57791172e-02 -4.33322467e-01] [ 1.85088372e-01 -2.71301538e-02 9.82347316e-01 4.37597056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49538474999999 meters Centerline goodness : 0.925932 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.43, Z:0.44 [[ 9.82429202e-01 -5.73298342e-03 -1.86547570e-01 8.21851131e+00] [ 1.06324048e-02 9.99624024e-01 2.52737518e-02 -4.32509070e-01] [ 1.86332538e-01 -2.68131211e-02 9.82120788e-01 4.37525489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52538474999999 meters Centerline goodness : 0.927488 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.43, Z:0.44 [[ 9.82289560e-01 -6.28713998e-03 -1.87263697e-01 8.22064718e+00] [ 1.11680430e-02 9.99624549e-01 2.50207204e-02 -4.32199201e-01] [ 1.87036080e-01 -2.66689615e-02 9.81990973e-01 4.37515285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55538474999999 meters Centerline goodness : 0.924691 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.43, Z:0.44 [[ 9.82030460e-01 -7.11147482e-03 -1.88588446e-01 8.22471594e+00] [ 1.18823009e-02 9.99637027e-01 2.41790416e-02 -4.30856447e-01] [ 1.88348044e-01 -2.59854200e-02 9.81758510e-01 4.36678118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58538474999999 meters Centerline goodness : 0.927469 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.43, Z:0.44 [[ 9.81885220e-01 -7.54692080e-03 -1.89326326e-01 8.22676065e+00] [ 1.23057040e-02 9.99636881e-01 2.39724110e-02 -4.30472736e-01] [ 1.89076661e-01 -2.58679498e-02 9.81621549e-01 4.36786496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61538474999999 meters Centerline goodness : 0.927180 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.43, Z:0.44 [[ 0.98169505 -0.00827626 -0.19027962 8.23028161] [ 0.01298339 0.99963942 0.02350461 -0.42945511] [ 0.19001647 -0.02554484 0.98144852 0.43609344] [ 0. 0. 0. 1. ]] SLAMing on 99.64538474999999 meters Centerline goodness : 0.925619 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.43, Z:0.44 [[ 0.98155219 -0.00899882 -0.1909825 8.23285139] [ 0.01366158 0.99963953 0.02311197 -0.42870787] [ 0.19070568 -0.02529473 0.98132131 0.43572373] [ 0. 0. 0. 1. ]] SLAMing on 99.67538474999999 meters Centerline goodness : 0.927984 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.43, Z:0.44 [[ 0.98131598 -0.00996775 -0.1921447 8.23615658] [ 0.01471015 0.99962097 0.02327064 -0.4297977 ] [ 0.19183992 -0.02566232 0.98109066 0.43662795] [ 0. 0. 0. 1. ]] SLAMing on 99.70538475 meters Centerline goodness : 0.929099 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.43, Z:0.44 [[ 0.98105425 -0.01055501 -0.19344548 8.23877384] [ 0.01551145 0.9995886 0.02412516 -0.4318709 ] [ 0.19311125 -0.02666871 0.98081437 0.43885342] [ 0. 0. 0. 1. ]] SLAMing on 99.73538475 meters Centerline goodness : 0.929099 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.43, Z:0.44 [[ 0.98105425 -0.01055501 -0.19344548 8.23877384] [ 0.01551145 0.9995886 0.02412516 -0.4318709 ] [ 0.19311125 -0.02666871 0.98081437 0.43885342] [ 0. 0. 0. 1. ]] SLAMing on 99.76538475 meters Centerline goodness : 0.927655 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.43, Z:0.44 [[ 0.98089123 -0.01106992 -0.19424174 8.24098185] [ 0.01606868 0.99957852 0.02417798 -0.43195779] [ 0.19389223 -0.02683718 0.98065568 0.43935462] [ 0. 0. 0. 1. ]] SLAMing on 99.79538475 meters Centerline goodness : 0.930394 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.43, Z:0.44 [[ 0.9807235 -0.01178877 -0.19504471 8.24332411] [ 0.01683959 0.9995639 0.02425782 -0.43256153] [ 0.19467368 -0.02707468 0.98049432 0.43993 ] [ 0. 0. 0. 1. ]] SLAMing on 99.82538475 meters Centerline goodness : 0.928665 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.43, Z:0.44 [[ 0.98047739 -0.01264938 -0.19622454 8.24698452] [ 0.01773143 0.99955075 0.02416399 -0.43241066] [ 0.19583073 -0.02717158 0.98026121 0.44014221] [ 0. 0. 0. 1. ]] SLAMing on 99.85538475 meters Centerline goodness : 0.929007 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.43, Z:0.44 [[ 0.98031652 -0.0133027 -0.19698365 8.24939452] [ 0.01834869 0.99954802 0.02381333 -0.43166274] [ 0.19657783 -0.02695899 0.98011753 0.4400596 ] [ 0. 0. 0. 1. ]] SLAMing on 99.88538474999999 meters Centerline goodness : 0.929370 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.43, Z:0.44 [[ 0.98011465 -0.01366164 -0.19796121 8.25199463] [ 0.01862771 0.99955623 0.02324555 -0.42974625] [ 0.19755578 -0.02647087 0.97993418 0.43978474] [ 0. 0. 0. 1. ]] SLAMing on 99.91538474999999 meters Centerline goodness : 0.929632 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.43, Z:0.44 [[ 0.97997168 -0.01404011 -0.19864133 8.25386149] [ 0.01894785 0.99955985 0.02282723 -0.42808674] [ 0.1982334 -0.02613386 0.97980638 0.43967739] [ 0. 0. 0. 1. ]] SLAMing on 99.94538474999999 meters Centerline goodness : 0.930661 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.42, Z:0.44 [[ 0.98088514 -0.01274231 -0.19416998 8.27101899] [ 0.01627447 0.99972964 0.01660667 -0.42415978] [ 0.19390587 -0.01944925 0.98082732 0.43878989] [ 0. 0. 0. 1. ]] SLAMing on 99.97538474999999 meters Centerline goodness : 0.934547 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.42, Z:0.44 [[ 0.98072831 -0.01260073 -0.19496976 8.27076851] [ 0.01637327 0.99970839 0.01774981 -0.42365064] [ 0.19468925 -0.02060003 0.98064863 0.44237091] [ 0. 0. 0. 1. ]] SLAMing on 100.00538474999999 meters Centerline goodness : 0.935587 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.42, Z:0.44 [[ 0.98060651 -0.01307093 -0.19555058 8.27238439] [ 0.01682561 0.99970438 0.01755165 -0.42203143] [ 0.19526335 -0.02050152 0.98053654 0.44267178] [ 0. 0. 0. 1. ]] SLAMing on 100.03538474999999 meters Centerline goodness : 0.934684 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.42, Z:0.44 [[ 0.98041209 -0.01384152 -0.19647022 8.27502327] [ 0.01752356 0.99970166 0.01701492 -0.41969266] [ 0.19617609 -0.02012449 0.98036215 0.44285388] [ 0. 0. 0. 1. ]] SLAMing on 100.06538474999999 meters Centerline goodness : 0.932547 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.42, Z:0.44 [[ 0.98032006 -0.0138701 -0.1969269 8.27655006] [ 0.01749012 0.99970831 0.01665525 -0.4173167 ] [ 0.19663844 -0.01977175 0.9802767 0.44226566] [ 0. 0. 0. 1. ]] SLAMing on 100.09538475 meters Centerline goodness : 0.928151 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.42, Z:0.44 [[ 0.98015222 -0.01025627 -0.19798089 8.2795232 ] [ 0.01456691 0.99968722 0.02032887 -0.41683496] [ 0.19771047 -0.02280936 0.97999505 0.44274264] [ 0. 0. 0. 1. ]] SLAMing on 100.12538475 meters Centerline goodness : 0.929474 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.42, Z:0.44 [[ 9.79918716e-01 -6.60417346e-03 -1.99287969e-01 8.28259194e+00] [ 1.16294768e-02 9.99642962e-01 2.40562762e-02 -4.16146578e-01] [ 1.99057944e-01 -2.58908101e-02 9.79645651e-01 4.43904459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15538475 meters Centerline goodness : 0.932171 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.41, Z:0.44 [[ 9.79690153e-01 -7.01052382e-03 -2.00394752e-01 8.28467264e+00] [ 1.19931225e-02 9.99648105e-01 2.36607354e-02 -4.14569864e-01] [ 2.00158360e-01 -2.55835483e-02 9.79429484e-01 4.44667912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18538475 meters Centerline goodness : 0.930838 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.41, Z:0.45 [[ 9.79482288e-01 -7.80694520e-03 -2.01378992e-01 8.28669827e+00] [ 1.28371534e-02 9.99637049e-01 2.36849568e-02 -4.14559906e-01] [ 2.01120994e-01 -2.57841287e-02 9.79227004e-01 4.45997678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21538475 meters Centerline goodness : 0.930294 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.41, Z:0.45 [[ 9.79137087e-01 -5.69093763e-03 -2.03121093e-01 8.29244663e+00] [ 1.13994495e-02 9.99571915e-01 2.69451206e-02 -4.14019795e-01] [ 2.02880797e-01 -2.86984355e-02 9.78782806e-01 4.46924057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24538474999999 meters Centerline goodness : 0.925930 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.78974427e-01 -6.44308560e-03 -2.03881234e-01 8.29534075e+00] [ 1.20479200e-02 9.99582506e-01 2.62614163e-02 -4.12223280e-01] [ 2.03626910e-01 -2.81655998e-02 9.78643337e-01 4.46186986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27538474999999 meters Centerline goodness : 0.927041 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.78677205e-01 -2.73928336e-03 -2.05386036e-01 8.29833601e+00] [ 9.26128460e-03 9.99482653e-01 3.08002533e-02 -4.13111545e-01] [ 2.05195409e-01 -3.20456444e-02 9.78196259e-01 4.48810773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30538474999999 meters Centerline goodness : 0.926469 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.78543735e-01 -2.65712652e-03 -2.06022083e-01 8.29887806e+00] [ 9.24844775e-03 9.99475452e-01 3.10368567e-02 -4.12818584e-01] [ 2.05831546e-01 -3.22763062e-02 9.78055016e-01 4.50066344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33538474999999 meters Centerline goodness : 0.929351 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.78309352e-01 1.19345788e-03 -2.07145813e-01 8.30086767e+00] [ 6.27928626e-03 9.99353016e-01 3.54135577e-02 -4.13871275e-01] [ 2.07054058e-01 -3.59461425e-02 9.77668907e-01 4.52255163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36538474999999 meters Centerline goodness : 0.928513 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.78173152e-01 1.50905085e-03 -2.07785966e-01 8.30173584e+00] [ 5.94296127e-03 9.99361385e-01 3.52349701e-02 -4.11835379e-01] [ 2.07706442e-01 -3.57007657e-02 9.77539508e-01 4.52648533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39538474999999 meters Centerline goodness : 0.928455 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.77993640e-01 1.50341444e-03 -2.08629289e-01 8.30350711e+00] [ 5.89074102e-03 9.99376387e-01 3.48157451e-02 -4.09095111e-01] [ 2.08551527e-01 -3.52785584e-02 9.77374894e-01 4.52740282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42538474999999 meters Centerline goodness : 0.929887 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.41, Z:0.45 [[ 9.77936793e-01 1.43075736e-03 -2.08896103e-01 8.30440151e+00] [ 5.90862683e-03 9.99387028e-01 3.45058803e-02 -4.07998799e-01] [ 2.08817425e-01 -3.49788590e-02 9.77328892e-01 4.52347211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45538475 meters Centerline goodness : 0.929628 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.41, Z:0.45 [[ 9.77654368e-01 -2.88101837e-04 -2.10218588e-01 8.30806193e+00] [ 7.66085476e-03 9.99383648e-01 3.42583590e-02 -4.08610652e-01] [ 2.10079149e-01 -3.51032884e-02 9.77053996e-01 4.53772776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48538475 meters Centerline goodness : 0.928987 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.41, Z:0.45 [[ 9.77432904e-01 -1.46075752e-03 -2.11241055e-01 8.31126573e+00] [ 8.77963234e-03 9.99392982e-01 3.37132889e-02 -4.08530582e-01] [ 2.11063581e-01 -3.48070966e-02 9.76852410e-01 4.53846206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51538475 meters Centerline goodness : 0.928831 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.41, Z:0.45 [[ 9.77103689e-01 -3.77158745e-03 -2.12730243e-01 8.31755717e+00] [ 1.09197122e-02 9.99414132e-01 3.24369174e-02 -4.06862992e-01] [ 2.12483272e-01 -3.40171847e-02 9.76572419e-01 4.52844243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54538475 meters Centerline goodness : 0.926610 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.41, Z:0.45 [[ 9.76942230e-01 -4.66042906e-03 -2.13452946e-01 8.32050526e+00] [ 1.16997617e-02 9.99428092e-01 3.17270277e-02 -4.05291081e-01] [ 2.13183009e-01 -3.34928218e-02 9.76438035e-01 4.52131304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57538475 meters Centerline goodness : 0.926342 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.41, Z:0.45 [[ 9.76678525e-01 -1.14282492e-03 -2.14703871e-01 8.32388810e+00] [ 8.93135737e-03 9.99336529e-01 3.53090897e-02 -4.05111303e-01] [ 2.14521070e-01 -3.64032267e-02 9.76040735e-01 4.52920715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60538474999998 meters Centerline goodness : 0.925040 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.40, Z:0.45 [[ 9.76519118e-01 -1.52646962e-03 -2.15425350e-01 8.32601718e+00] [ 9.27895777e-03 9.99344931e-01 3.49801449e-02 -4.04079144e-01] [ 2.15230836e-01 -3.61577030e-02 9.75893595e-01 4.52755423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63538474999999 meters Centerline goodness : 0.926352 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.40, Z:0.45 [[ 9.76333930e-01 -1.63002052e-03 -2.16262343e-01 8.32749784e+00] [ 9.49133721e-03 9.99331081e-01 3.53172183e-02 -4.04300833e-01] [ 2.16060113e-01 -3.65340174e-02 9.75696312e-01 4.53944593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66538474999999 meters Centerline goodness : 0.924990 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:0.45 [[ 9.76241882e-01 -1.72491177e-03 -2.16676749e-01 8.32843293e+00] [ 9.63011612e-03 9.99325643e-01 3.54333086e-02 -4.05022059e-01] [ 2.16469512e-01 -3.66781022e-02 9.75600157e-01 4.54296713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69538474999999 meters Centerline goodness : 0.928434 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:0.46 [[ 9.76057202e-01 -1.80676907e-03 -2.17506491e-01 8.32962016e+00] [ 9.94329072e-03 9.99290760e-01 3.63195271e-02 -4.07248764e-01] [ 2.17286605e-01 -3.76126663e-02 9.75382909e-01 4.56294129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72538474999999 meters Centerline goodness : 0.929851 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:0.46 [[ 9.75925982e-01 -2.16710607e-03 -2.18091220e-01 8.33121547e+00] [ 1.03748485e-02 9.99279929e-01 3.64963736e-02 -4.08153650e-01] [ 2.17855088e-01 -3.78804226e-02 9.75245730e-01 4.56831045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75538474999999 meters Centerline goodness : 0.931577 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:0.46 [[ 9.75719300e-01 -2.80163044e-03 -2.19006845e-01 8.33354155e+00] [ 1.11810813e-02 9.99251561e-01 3.70310947e-02 -4.10768648e-01] [ 2.18739184e-01 -3.85806871e-02 9.75020359e-01 4.58043010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78538474999999 meters Centerline goodness : 0.933299 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:0.46 [[ 9.75592544e-01 -3.14955388e-03 -2.19566090e-01 8.33518106e+00] [ 1.16375125e-02 9.99233537e-01 3.73752185e-02 -4.12225311e-01] [ 2.19280085e-01 -3.90181877e-02 9.74881442e-01 4.58736606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81538474999999 meters Centerline goodness : 0.933092 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:0.46 [[ 9.75480587e-01 -3.46342529e-03 -2.20058238e-01 8.33643804e+00] [ 1.19659486e-02 9.99231855e-01 3.73164204e-02 -4.12256643e-01] [ 2.19759959e-01 -3.90346493e-02 9.74772721e-01 4.59014956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84538475 meters Centerline goodness : 0.934737 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:0.46 [[ 9.75339664e-01 -4.07049151e-03 -2.20671635e-01 8.33835873e+00] [ 1.25600167e-02 9.99233297e-01 3.70818473e-02 -4.12370309e-01] [ 2.20351504e-01 -3.89390360e-02 9.74642994e-01 4.59121964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87538475 meters Centerline goodness : 0.936982 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:0.46 [[ 0.97520354 -0.00899439 -0.22112702 8.33951915] [ 0.01676919 0.99930445 0.03330772 -0.41361841] [ 0.22067363 -0.03618993 0.97467607 0.45973493] [ 0. 0. 0. 1. ]] SLAMing on 100.90538475 meters Centerline goodness : 0.930148 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:0.46 [[ 0.97484851 -0.01116126 -0.22258888 8.34448369] [ 0.0189227 0.99928388 0.03276666 -0.41438393] [ 0.22206376 -0.03615451 0.97436161 0.4604469 ] [ 0. 0. 0. 1. ]] SLAMing on 100.93538475 meters Centerline goodness : 0.928936 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.41, Z:0.46 [[ 0.97472906 -0.01190447 -0.22307294 8.34685566] [ 0.01955163 0.99929329 0.03210379 -0.41328322] [ 0.22253312 -0.03565394 0.97427296 0.45955268] [ 0. 0. 0. 1. ]] SLAMing on 100.96538475 meters Centerline goodness : 0.930577 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.41, Z:0.46 [[ 0.97454791 -0.01287016 -0.22380957 8.34902416] [ 0.02056036 0.99927432 0.03206403 -0.41369384] [ 0.22323449 -0.03584954 0.97410532 0.4603662 ] [ 0. 0. 0. 1. ]] SLAMing on 100.99538474999999 meters Centerline goodness : 0.926701 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.41, Z:0.46 [[ 0.97420569 -0.01087619 -0.22539962 8.35470788] [ 0.01929453 0.99919474 0.03517937 -0.41270653] [ 0.22483549 -0.03862092 0.97363105 0.46107362] [ 0. 0. 0. 1. ]] SLAMing on 101.02538474999999 meters Centerline goodness : 0.922547 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97406959 -0.01142574 -0.22595992 8.35736456] [ 0.0197006 0.99921396 0.0343999 -0.41052658] [ 0.22538926 -0.03795945 0.97352902 0.45992905] [ 0. 0. 0. 1. ]] SLAMing on 101.05538474999999 meters Centerline goodness : 0.925201 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97394356 -0.0117408 -0.22648643 8.3587946 ] [ 0.01996222 0.99922097 0.03404363 -0.40922795] [ 0.22591029 -0.03767775 0.97341919 0.45991864] [ 0. 0. 0. 1. ]] SLAMing on 101.08538474999999 meters Centerline goodness : 0.926488 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.9738081 -0.01157675 -0.22707658 8.35938397] [ 0.01983407 0.99922107 0.03411557 -0.40835583] [ 0.22650475 -0.03772587 0.97327918 0.46075875] [ 0. 0. 0. 1. ]] SLAMing on 101.11538474999999 meters Centerline goodness : 0.926848 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97366351 -0.01178581 -0.22768502 8.36042617] [ 0.02007626 0.99921573 0.03413029 -0.40815715] [ 0.2271042 -0.03780248 0.9731365 0.46151349] [ 0. 0. 0. 1. ]] SLAMing on 101.14538474999999 meters Centerline goodness : 0.928853 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97359593 -0.01151129 -0.22798784 8.36043482] [ 0.0198161 0.99921953 0.034171 -0.40849918] [ 0.22741655 -0.03778658 0.97306417 0.46201749] [ 0. 0. 0. 1. ]] SLAMing on 101.17538474999999 meters Centerline goodness : 0.925471 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97349004 -0.01183078 -0.22842325 8.36201936] [ 0.02005447 0.99923028 0.03371441 -0.40648484] [ 0.22784856 -0.03740156 0.97297798 0.46164163] [ 0. 0. 0. 1. ]] SLAMing on 101.20538475 meters Centerline goodness : 0.928689 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.41, Z:0.46 [[ 0.97341593 -0.0119157 -0.22873444 8.36264757] [ 0.02014276 0.99923011 0.03366679 -0.40537611] [ 0.22815718 -0.03737913 0.97290652 0.46198248] [ 0. 0. 0. 1. ]] SLAMing on 101.23538475 meters Centerline goodness : 0.929503 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.40, Z:0.46 [[ 0.97330383 -0.01178163 -0.22921791 8.36339528] [ 0.01996379 0.99924233 0.0334098 -0.40359524] [ 0.22865062 -0.03709395 0.97280159 0.46219544] [ 0. 0. 0. 1. ]] SLAMing on 101.26538475 meters Centerline goodness : 0.928469 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.40, Z:0.46 [[ 0.97327458 -0.01189555 -0.22933618 8.36418767] [ 0.01998709 0.99925575 0.03299186 -0.40170689] [ 0.22877304 -0.03669391 0.97278798 0.46161325] [ 0. 0. 0. 1. ]] SLAMing on 101.29538475 meters Centerline goodness : 0.927388 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.40, Z:0.46 [[ 0.97317463 -0.01220536 -0.22974369 8.3656939 ] [ 0.02018905 0.99927002 0.03243187 -0.39953999] [ 0.22918014 -0.03620018 0.97271065 0.46105113] [ 0. 0. 0. 1. ]] SLAMing on 101.32538475 meters Centerline goodness : 0.927035 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.40, Z:0.46 [[ 0.97308458 -0.01208752 -0.23013104 8.3663752 ] [ 0.0199614 0.99929116 0.03191737 -0.39721735] [ 0.22958211 -0.03565204 0.9726361 0.46079298] [ 0. 0. 0. 1. ]] SLAMing on 101.35538474999998 meters Centerline goodness : 0.925967 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.40, Z:0.46 [[ 0.97302354 -0.01213349 -0.23038655 8.36701615] [ 0.01993661 0.99930263 0.03157197 -0.39643347] [ 0.22984281 -0.03531339 0.97258688 0.46059631] [ 0. 0. 0. 1. ]] SLAMing on 101.38538474999999 meters Centerline goodness : 0.923327 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.39, Z:0.46 [[ 0.97296426 -0.01162737 -0.23066286 8.36750396] [ 0.01934221 0.99932558 0.03121333 -0.3938035 ] [ 0.23014437 -0.03483099 0.97253297 0.46010537] [ 0. 0. 0. 1. ]] SLAMing on 101.41538474999999 meters Centerline goodness : 0.924485 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.39, Z:0.46 [[ 0.97289551 -0.01136647 -0.23096566 8.36785388] [ 0.01900884 0.99934201 0.0308904 -0.39254673] [ 0.23046257 -0.03444352 0.97247141 0.46007361] [ 0. 0. 0. 1. ]] SLAMing on 101.44538474999999 meters Centerline goodness : 0.925427 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.39, Z:0.46 [[ 0.97278248 -0.01188109 -0.2314154 8.36890512] [ 0.01953533 0.99933426 0.03081233 -0.39309613] [ 0.23089525 -0.03449447 0.97236696 0.46062198] [ 0. 0. 0. 1. ]] SLAMing on 101.47538474999999 meters Centerline goodness : 0.928981 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.39, Z:0.46 [[ 0.97263866 -0.01699492 -0.23170067 8.36934717] [ 0.02404092 0.99932936 0.02762011 -0.39438274] [ 0.23107588 -0.03243468 0.97239495 0.46240608] [ 0. 0. 0. 1. ]] SLAMing on 101.50538474999999 meters Centerline goodness : 0.929668 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.39, Z:0.46 [[ 0.97253137 -0.01792459 -0.23208067 8.37170852] [ 0.02490511 0.99932018 0.0271828 -0.39398707] [ 0.23143565 -0.03221612 0.97231665 0.46178741] [ 0. 0. 0. 1. ]] SLAMing on 101.53538474999999 meters Centerline goodness : 0.926181 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.39, Z:0.46 [[ 0.97233253 -0.01891879 -0.23283368 8.37590665] [ 0.02580467 0.99931401 0.02656362 -0.39335751] [ 0.23217141 -0.03183687 0.97215372 0.46018024] [ 0. 0. 0. 1. ]] SLAMing on 101.56538474999999 meters Centerline goodness : 0.926901 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.39, Z:0.46 [[ 0.97222862 -0.01941268 -0.23322663 8.37771321] [ 0.0262975 0.99930427 0.02644643 -0.39335327] [ 0.23255097 -0.03184525 0.97206272 0.45996503] [ 0. 0. 0. 1. ]] SLAMing on 101.59538475 meters Centerline goodness : 0.932341 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.39, Z:0.46 [[ 0.9720939 -0.02015522 -0.23372464 8.37865683] [ 0.02722177 0.99926342 0.02704784 -0.3946634 ] [ 0.23300733 -0.03265544 0.97192654 0.46188891] [ 0. 0. 0. 1. ]] SLAMing on 101.62538475 meters Centerline goodness : 0.938292 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.40, Z:0.46 [[ 0.9720461 -0.02409211 -0.23355076 8.37623531] [ 0.03056639 0.99924117 0.02414083 -0.39600508] [ 0.23279193 -0.0306048 0.97204489 0.46422184] [ 0. 0. 0. 1. ]] SLAMing on 101.65538475 meters Centerline goodness : 0.938292 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.40, Z:0.46 [[ 0.9720461 -0.02409211 -0.23355076 8.37623531] [ 0.03056639 0.99924117 0.02414083 -0.39600508] [ 0.23279193 -0.0306048 0.97204489 0.46422184] [ 0. 0. 0. 1. ]] SLAMing on 101.68538475 meters Centerline goodness : 0.937685 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.39, Z:0.46 [[ 0.97180005 -0.0253026 -0.23444496 8.37943296] [ 0.0316936 0.99922058 0.02353203 -0.39489695] [ 0.23366681 -0.03029884 0.97184454 0.46414339] [ 0. 0. 0. 1. ]] SLAMing on 101.71538475 meters Centerline goodness : 0.932234 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.39, Z:0.46 [[ 0.97158591 -0.02201322 -0.23566129 8.38385825] [ 0.02916432 0.99921255 0.02690197 -0.3942576 ] [ 0.23488352 -0.03301048 0.97146284 0.46377286] [ 0. 0. 0. 1. ]] SLAMing on 101.74538474999999 meters Centerline goodness : 0.929252 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97138977 -0.0233708 -0.23633815 8.38826467] [ 0.0303177 0.99920723 0.02580214 -0.39201152] [ 0.23554777 -0.03222916 0.97132823 0.46180019] [ 0. 0. 0. 1. ]] SLAMing on 101.77538474999999 meters Centerline goodness : 0.930324 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97130673 -0.02341091 -0.23667521 8.38942418] [ 0.03034734 0.99920878 0.02570689 -0.39086695] [ 0.23588613 -0.03215174 0.97124868 0.46167745] [ 0. 0. 0. 1. ]] SLAMing on 101.80538474999999 meters Centerline goodness : 0.930809 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97129087 -0.02280554 -0.23679939 8.38838227] [ 0.029804 0.99921713 0.02601638 -0.39021651] [ 0.23602069 -0.03232704 0.97121017 0.46273315] [ 0. 0. 0. 1. ]] SLAMing on 101.83538474999999 meters Centerline goodness : 0.931432 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97115869 -0.02249907 -0.23737015 8.38890597] [ 0.02955597 0.99921937 0.02621234 -0.3892011 ] [ 0.2365951 -0.03247205 0.97106556 0.46366271] [ 0. 0. 0. 1. ]] SLAMing on 101.86538474999999 meters Centerline goodness : 0.929542 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97104061 -0.02282358 -0.23782183 8.39036992] [ 0.02980235 0.99922304 0.0257901 -0.38789643] [ 0.23704843 -0.03213088 0.97096635 0.46339456] [ 0. 0. 0. 1. ]] SLAMing on 101.89538474999999 meters Centerline goodness : 0.929418 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.39, Z:0.46 [[ 0.97102962 -0.02254347 -0.23789338 8.39101913] [ 0.02943473 0.99924253 0.02545509 -0.38547169] [ 0.23713934 -0.03171997 0.97095766 0.4625322 ] [ 0. 0. 0. 1. ]] SLAMing on 101.92538474999999 meters Centerline goodness : 0.929239 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97104174 -0.02220504 -0.23787575 8.39072999] [ 0.02909592 0.99925141 0.0254962 -0.38452128] [ 0.23713153 -0.03167909 0.9709609 0.46257809] [ 0. 0. 0. 1. ]] SLAMing on 101.95538475 meters Centerline goodness : 0.931950 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97101 -0.02205284 -0.23801943 8.39109333] [ 0.02894966 0.99925507 0.02551892 -0.38358376] [ 0.23727936 -0.0316697 0.97092509 0.46263114] [ 0. 0. 0. 1. ]] SLAMing on 101.98538475 meters Centerline goodness : 0.933834 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97099817 -0.0215985 -0.23810932 8.39054695] [ 0.02851929 0.99926387 0.02565873 -0.38188791] [ 0.23737985 -0.03170529 0.97089937 0.46322927] [ 0. 0. 0. 1. ]] SLAMing on 102.01538475 meters Centerline goodness : 0.932958 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97100349 -0.02124358 -0.23811958 8.39018245] [ 0.02818613 0.99926998 0.02578854 -0.38119528] [ 0.23739791 -0.03175243 0.97089341 0.46343516] [ 0. 0. 0. 1. ]] SLAMing on 102.04538475 meters Centerline goodness : 0.933634 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97085499 -0.02176785 -0.2386771 8.39151959] [ 0.02876667 0.9992511 0.02587895 -0.38136171] [ 0.23793503 -0.03199065 0.9707541 0.46434752] [ 0. 0. 0. 1. ]] SLAMing on 102.07538475 meters Centerline goodness : 0.933043 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.38, Z:0.46 [[ 0.97076847 -0.02227049 -0.23898245 8.39307187] [ 0.02917245 0.99925208 0.02538201 -0.38044294] [ 0.23823844 -0.03161176 0.97069209 0.46377035] [ 0. 0. 0. 1. ]] SLAMing on 102.10538474999998 meters Centerline goodness : 0.930793 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:0.46 [[ 0.9705528 -0.02449023 -0.23964034 8.397691 ] [ 0.03117874 0.99922181 0.02415889 -0.38003941] [ 0.2388622 -0.03091916 0.9705611 0.46244935] [ 0. 0. 0. 1. ]] SLAMing on 102.13538474999999 meters Centerline goodness : 0.930654 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:0.46 [[ 0.97045126 -0.02502049 -0.2399965 8.39946702] [ 0.03163624 0.99921718 0.02375255 -0.37964752] [ 0.23921432 -0.03064328 0.97048313 0.46193588] [ 0. 0. 0. 1. ]] SLAMing on 102.16538474999999 meters Centerline goodness : 0.928127 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:0.46 [[ 0.97030863 -0.02531305 -0.24054191 8.40172797] [ 0.03189317 0.99921495 0.02350126 -0.37926112] [ 0.23975819 -0.03047512 0.9703542 0.46135563] [ 0. 0. 0. 1. ]] SLAMing on 102.19538474999999 meters Centerline goodness : 0.931872 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:0.46 [[ 0.97023286 -0.02510424 -0.24086921 8.40198187] [ 0.03179474 0.99920792 0.02392977 -0.3808987 ] [ 0.24007769 -0.03087582 0.97026254 0.4621351 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22538474999999 meters Centerline goodness : 0.933034 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:0.46 [[ 0.9701275 -0.02512686 -0.24129084 8.40257719] [ 0.03201494 0.99918292 0.02466835 -0.38243219] [ 0.24047385 -0.03165636 0.97013927 0.46350483] [ 0. 0. 0. 1. ]] SLAMing on 102.25538474999999 meters Centerline goodness : 0.934021 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.38, Z:0.46 [[ 0.96990275 -0.02610728 -0.24208897 8.4050293 ] [ 0.03316248 0.99913441 0.0251135 -0.38390407] [ 0.24122377 -0.03238592 0.96992899 0.46479774] [ 0. 0. 0. 1. ]] SLAMing on 102.28538474999999 meters Centerline goodness : 0.936813 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.38, Z:0.46 [[ 0.96973639 -0.03162518 -0.24209748 8.40673935] [ 0.03787504 0.99905749 0.021204 -0.38474943] [ 0.24119872 -0.02973174 0.97002021 0.46448686] [ 0. 0. 0. 1. ]] SLAMing on 102.31538474999999 meters Centerline goodness : 0.937498 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:0.46 [[ 0.96962613 -0.03233319 -0.2424453 8.40838993] [ 0.03863841 0.9990263 0.02129595 -0.3856032 ] [ 0.24152067 -0.03001681 0.96993132 0.46476487] [ 0. 0. 0. 1. ]] SLAMing on 102.34538475 meters Centerline goodness : 0.937441 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:0.47 [[ 0.96952317 -0.03276716 -0.24279855 8.40980621] [ 0.03924576 0.99898972 0.02189309 -0.38720679] [ 0.24183588 -0.03075467 0.96982965 0.46565265] [ 0. 0. 0. 1. ]] SLAMing on 102.37538475 meters Centerline goodness : 0.939817 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:0.47 [[ 0.96935603 -0.03278597 -0.24346246 8.41070025] [ 0.03954517 0.99895474 0.02292609 -0.38928927] [ 0.24245632 -0.03185131 0.96963933 0.46766817] [ 0. 0. 0. 1. ]] SLAMing on 102.40538475 meters Centerline goodness : 0.940435 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:0.47 [[ 0.96923559 -0.03338834 -0.24385977 8.41188079] [ 0.04025613 0.99891927 0.02323228 -0.39045785] [ 0.24282054 -0.0323344 0.96953219 0.46866208] [ 0. 0. 0. 1. ]] SLAMing on 102.43538475 meters Centerline goodness : 0.940299 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:0.47 [[ 0.96917296 -0.03379772 -0.2440522 8.41305004] [ 0.04064941 0.9989066 0.02309155 -0.39081253] [ 0.24300492 -0.03230029 0.96948713 0.46846746] [ 0. 0. 0. 1. ]] SLAMing on 102.46538475 meters Centerline goodness : 0.938548 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.39, Z:0.47 [[ 0.96898822 -0.03138897 -0.2451052 8.41806724] [ 0.0389774 0.99889735 0.0261695 -0.39174793] [ 0.24401351 -0.03491151 0.96914323 0.46805186] [ 0. 0. 0. 1. ]] SLAMing on 102.49538474999999 meters Centerline goodness : 0.939304 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.39, Z:0.47 [[ 0.9688624 -0.03215215 -0.24550332 8.4202628 ] [ 0.03968845 0.9988787 0.02581044 -0.39196378] [ 0.24439818 -0.03475041 0.96905208 0.4675705 ] [ 0. 0. 0. 1. ]] SLAMing on 102.52538474999999 meters Centerline goodness : 0.940009 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.39, Z:0.47 [[ 0.96872893 -0.03315245 -0.24589668 8.4230166 ] [ 0.04061293 0.99885384 0.0253296 -0.39217309] [ 0.24477511 -0.0345241 0.96896503 0.46686541] [ 0. 0. 0. 1. ]] SLAMing on 102.55538474999999 meters Centerline goodness : 0.939825 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96852291 -0.03402259 -0.24658841 8.42569961] [ 0.04146135 0.99882639 0.02503608 -0.39245853] [ 0.24544722 -0.0344719 0.96879686 0.46680809] [ 0. 0. 0. 1. ]] SLAMing on 102.58538474999999 meters Centerline goodness : 0.939436 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96838104 -0.03493396 -0.24701775 8.42830223] [ 0.04234044 0.99879703 0.02473401 -0.3936329 ] [ 0.24585654 -0.03441079 0.96869523 0.46632643] [ 0. 0. 0. 1. ]] SLAMing on 102.61538474999999 meters Centerline goodness : 0.940103 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96834401 -0.03519509 -0.24712586 8.42940757] [ 0.04257201 0.99879125 0.0245697 -0.39346361] [ 0.24596241 -0.03431256 0.96867184 0.4658594 ] [ 0. 0. 0. 1. ]] SLAMing on 102.64538474999999 meters Centerline goodness : 0.940350 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96834158 -0.03521124 -0.24713307 8.4301739 ] [ 0.04252102 0.99879996 0.02430222 -0.39247468] [ 0.24598079 -0.0340412 0.96867675 0.4651254 ] [ 0. 0. 0. 1. ]] SLAMing on 102.67538474999999 meters Centerline goodness : 0.939081 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.46 [[ 0.96830794 -0.03529744 -0.24725255 8.43083732] [ 0.04258417 0.99880015 0.02418376 -0.39172219] [ 0.24610225 -0.03394637 0.96864923 0.46491662] [ 0. 0. 0. 1. ]] SLAMing on 102.70538475 meters Centerline goodness : 0.940688 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96828377 -0.03498227 -0.24739198 8.43074398] [ 0.04227534 0.99881219 0.02422799 -0.39047636] [ 0.24625057 -0.03391815 0.96861252 0.46519411] [ 0. 0. 0. 1. ]] SLAMing on 102.73538475 meters Centerline goodness : 0.942118 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96827099 -0.03471928 -0.24747901 8.4307989 ] [ 0.0420514 0.99881742 0.0244018 -0.38931161] [ 0.24633913 -0.03403439 0.96858592 0.46547166] [ 0. 0. 0. 1. ]] SLAMing on 102.76538475 meters Centerline goodness : 0.945466 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96814803 -0.03040827 -0.24852511 8.43186352] [ 0.03888378 0.99881511 0.02926473 -0.38947678] [ 0.24734075 -0.03799618 0.96818327 0.46845577] [ 0. 0. 0. 1. ]] SLAMing on 102.79538475 meters Centerline goodness : 0.946766 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.9680817 -0.03032258 -0.24879381 8.43205765] [ 0.03892125 0.99880038 0.02971434 -0.38987293] [ 0.24759434 -0.03844927 0.96810056 0.46943266] [ 0. 0. 0. 1. ]] SLAMing on 102.82538475 meters Centerline goodness : 0.946343 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.39, Z:0.47 [[ 0.96801803 -0.03074447 -0.24898972 8.43323657] [ 0.0392965 0.99879356 0.02944839 -0.38958269] [ 0.24778395 -0.038291 0.96805832 0.46916527] [ 0. 0. 0. 1. ]] SLAMing on 102.85538474999998 meters Centerline goodness : 0.947211 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.39, Z:0.47 [[ 0.96783017 -0.03160289 -0.24961173 8.43577489] [ 0.04011229 0.99877203 0.02907639 -0.38924478] [ 0.24838631 -0.03815351 0.96790937 0.46897117] [ 0. 0. 0. 1. ]] SLAMing on 102.88538474999999 meters Centerline goodness : 0.946003 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.39, Z:0.47 [[ 0.96751387 -0.03343553 -0.25059725 8.44012268] [ 0.04194076 0.99870852 0.02867515 -0.38989441] [ 0.24931484 -0.03825385 0.96766666 0.46927224] [ 0. 0. 0. 1. ]] SLAMing on 102.91538474999999 meters Centerline goodness : 0.947393 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.39, Z:0.47 [[ 0.96734731 -0.03437726 -0.25111229 8.44254459] [ 0.04280553 0.99868599 0.02817752 -0.38974184] [ 0.24981366 -0.03800644 0.96754775 0.46891458] [ 0. 0. 0. 1. ]] SLAMing on 102.94538474999999 meters Centerline goodness : 0.945712 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96720388 -0.03558575 -0.25149614 8.4458785 ] [ 0.04381749 0.99866906 0.0272054 -0.38952666] [ 0.25019329 -0.03733309 0.96747587 0.46730265] [ 0. 0. 0. 1. ]] SLAMing on 102.97538474999999 meters Centerline goodness : 0.947150 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96707673 -0.03617348 -0.25190093 8.44774327] [ 0.04440678 0.99864657 0.0270751 -0.39053285] [ 0.2505806 -0.03736981 0.96737421 0.46721921] [ 0. 0. 0. 1. ]] SLAMing on 103.00538474999999 meters Centerline goodness : 0.948094 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96696819 -0.03667446 -0.25224492 8.44935538] [ 0.04492292 0.99862505 0.02701742 -0.39057947] [ 0.25090725 -0.03745656 0.96728618 0.46727817] [ 0. 0. 0. 1. ]] SLAMing on 103.03538474999999 meters Centerline goodness : 0.945851 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96680601 -0.03730277 -0.25277391 8.45133943] [ 0.04556395 0.99859903 0.02690547 -0.39064752] [ 0.25141613 -0.03752975 0.9671512 0.46748383] [ 0. 0. 0. 1. ]] SLAMing on 103.06538474999999 meters Centerline goodness : 0.946970 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96655651 -0.03796409 -0.25362814 8.4528714 ] [ 0.04641559 0.99854582 0.02741968 -0.39223751] [ 0.25221835 -0.03827497 0.96691309 0.46947982] [ 0. 0. 0. 1. ]] SLAMing on 103.09538475 meters Centerline goodness : 0.949204 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96645602 -0.03822859 -0.25397112 8.45356559] [ 0.04667064 0.99853731 0.02729621 -0.39210732] [ 0.25255615 -0.03823358 0.96682655 0.4698647 ] [ 0. 0. 0. 1. ]] SLAMing on 103.12538475 meters Centerline goodness : 0.946921 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.9664264 -0.03834096 -0.25406687 8.4547487 ] [ 0.04664517 0.99855357 0.02673948 -0.38985424] [ 0.25267416 -0.03769274 0.96681696 0.46870336] [ 0. 0. 0. 1. ]] SLAMing on 103.15538475 meters Centerline goodness : 0.950191 Centerline is valid? [False, True] Translation: X:8.45, Y:-0.39, Z:0.47 [[ 0.96636883 -0.03810843 -0.25432071 8.45484601] [ 0.046487 0.99855355 0.02701421 -0.3886941 ] [ 0.25292338 -0.03792829 0.96674258 0.46936559] [ 0. 0. 0. 1. ]] SLAMing on 103.18538475 meters Centerline goodness : 0.950791 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.37, Z:0.45 [[ 9.66388556e-01 -4.86948097e-02 -2.52432117e-01 8.48743813e+00] [ 4.68924115e-02 9.98813320e-01 -1.31549614e-02 -3.71656562e-01] [ 2.52773139e-01 8.75653463e-04 9.67525180e-01 4.49819799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21538475 meters Centerline goodness : 0.951036 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.37, Z:0.46 [[ 9.66444197e-01 -4.75871302e-02 -2.52430344e-01 8.51430422e+00] [ 4.57387084e-02 9.98866369e-01 -1.31888844e-02 -3.70078447e-01] [ 2.52771803e-01 1.20048288e-03 9.67525180e-01 4.59548207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24538474999999 meters Centerline goodness : 0.950711 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.37, Z:0.47 [[ 9.66480138e-01 -4.68711470e-02 -2.52426699e-01 8.54173118e+00] [ 4.49805767e-02 9.98899877e-01 -1.32583002e-02 -3.68185102e-01] [ 2.52770430e-01 1.45958534e-03 9.67525183e-01 4.66267630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27538474999999 meters Centerline goodness : 0.950342 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.37, Z:0.47 [[ 9.66544267e-01 -4.55497338e-02 -2.52423062e-01 8.56882606e+00] [ 4.35968466e-02 9.98960310e-01 -1.33272059e-02 -3.65749171e-01] [ 2.52767670e-01 1.87648494e-03 9.67525185e-01 4.73343442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30538474999999 meters Centerline goodness : 0.950227 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.36, Z:0.48 [[ 9.66575632e-01 -4.48996069e-02 -2.52419437e-01 8.59668762e+00] [ 4.29070766e-02 9.98989261e-01 -1.33955232e-02 -3.63422832e-01] [ 2.52765760e-01 2.11720622e-03 9.67525187e-01 4.79579030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33538474999999 meters Centerline goodness : 0.949103 Centerline is valid? [True, False] Translation: X:8.60, Y:-0.36, Z:0.48 [[ 9.66547122e-01 -4.05123578e-02 -2.53269443e-01 8.59813292e+00] [ 3.95836729e-02 9.99177828e-01 -8.76364925e-03 -3.64587941e-01] [ 2.53416248e-01 -1.55485483e-03 9.67356081e-01 4.81130175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36538474999999 meters Centerline goodness : 0.946846 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.37, Z:0.48 [[ 9.66516670e-01 -3.62325999e-02 -2.54032921e-01 8.59974213e+00] [ 3.63004582e-02 9.99331137e-01 -4.42213269e-03 -3.65110164e-01] [ 2.54023234e-01 -4.94744648e-03 9.67185463e-01 4.82332925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39538474999999 meters Centerline goodness : 0.944730 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.37, Z:0.48 [[ 9.66321384e-01 -3.16354620e-02 -2.55386336e-01 8.60156887e+00] [ 3.28476949e-02 9.99460253e-01 4.81792149e-04 -3.66245267e-01] [ 2.55233250e-01 -8.85441850e-03 9.66838967e-01 4.84810396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42538474999999 meters Centerline goodness : 0.943974 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.37, Z:0.49 [[ 9.66249667e-01 -3.15050023e-02 -2.55673651e-01 8.60190626e+00] [ 3.27706078e-02 9.99462661e-01 6.90393646e-04 -3.65579310e-01] [ 2.55514517e-01 -9.04567360e-03 9.66762901e-01 4.85354312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45538475 meters Centerline goodness : 0.943946 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.37, Z:0.49 [[ 9.66054406e-01 -2.73985072e-02 -2.56881699e-01 8.60436608e+00] [ 2.97940768e-02 9.99541269e-01 5.43736868e-03 -3.66739512e-01] [ 2.56614883e-01 -1.29063470e-02 9.66427560e-01 4.87495891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48538475 meters Centerline goodness : 0.943619 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.37, Z:0.49 [[ 9.65973954e-01 -2.73998287e-02 -2.57183923e-01 8.60514064e+00] [ 2.99137880e-02 9.99535265e-01 5.86679357e-03 -3.67274390e-01] [ 2.56903651e-01 -1.33605151e-02 9.66344664e-01 4.88038578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51538475 meters Centerline goodness : 0.944232 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.37, Z:0.50 [[ 0.96556061 -0.03172262 -0.25823707 8.61166311] [ 0.03519344 0.99934153 0.00882782 -0.37090996] [ 0.25778698 -0.01761204 0.96604125 0.49547766] [ 0. 0. 0. 1. ]] SLAMing on 103.54538475 meters Centerline goodness : 0.944232 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.37, Z:0.50 [[ 0.96556061 -0.03172262 -0.25823707 8.61166311] [ 0.03519344 0.99934153 0.00882782 -0.37090996] [ 0.25778698 -0.01761204 0.96604125 0.49547766] [ 0. 0. 0. 1. ]] SLAMing on 103.57538475 meters Centerline goodness : 0.945585 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.37, Z:0.50 [[ 0.96524987 -0.03292196 -0.25924665 8.61446134] [ 0.03661 0.99928533 0.00940942 -0.37298228] [ 0.2587516 -0.01857346 0.96576531 0.49724688] [ 0. 0. 0. 1. ]] SLAMing on 103.60538474999998 meters Centerline goodness : 0.944087 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.37, Z:0.50 [[ 0.96494438 -0.03450104 -0.26017692 8.61919211] [ 0.03814043 0.9992323 0.00895099 -0.37363781] [ 0.25966836 -0.01856047 0.96551947 0.4965812 ] [ 0. 0. 0. 1. ]] SLAMing on 103.63538474999999 meters Centerline goodness : 0.942969 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.38, Z:0.50 [[ 0.96481389 -0.03126499 -0.26106829 8.62265437] [ 0.03584248 0.99927561 0.01278969 -0.37518361] [ 0.26047931 -0.02169701 0.9652356 0.49701231] [ 0. 0. 0. 1. ]] SLAMing on 103.66538474999999 meters Centerline goodness : 0.942646 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.38, Z:0.50 [[ 0.96477135 -0.03096038 -0.26126174 8.62307504] [ 0.03580193 0.99926374 0.01379111 -0.37761459] [ 0.2606424 -0.02265894 0.96516947 0.49792447] [ 0. 0. 0. 1. ]] SLAMing on 103.69538474999999 meters Centerline goodness : 0.942617 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.38, Z:0.50 [[ 0.96464738 -0.03063425 -0.26175747 8.62317615] [ 0.03575685 0.9992505 0.01482848 -0.37909953] [ 0.26110702 -0.02366387 0.96501976 0.49973402] [ 0. 0. 0. 1. ]] SLAMing on 103.72538474999999 meters Centerline goodness : 0.944367 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.38, Z:0.50 [[ 0.9645199 -0.03007626 -0.26229142 8.62315598] [ 0.03554325 0.99923808 0.01612263 -0.38129863] [ 0.26160667 -0.02487328 0.96485402 0.50183413] [ 0. 0. 0. 1. ]] SLAMing on 103.75538474999999 meters Centerline goodness : 0.939238 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.38, Z:0.50 [[ 0.96440792 -0.03000459 -0.26271103 8.62400703] [ 0.03557018 0.99923172 0.01645392 -0.38152685] [ 0.2620155 -0.02521297 0.96473426 0.50238428] [ 0. 0. 0. 1. ]] SLAMing on 103.78538474999999 meters Centerline goodness : 0.940169 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.50 [[ 0.96412258 -0.0263955 -0.26414185 8.62736866] [ 0.03310614 0.9992315 0.02098554 -0.38291646] [ 0.26338494 -0.02897735 0.96425551 0.50468148] [ 0. 0. 0. 1. ]] SLAMing on 103.81538474999999 meters Centerline goodness : 0.943297 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96403739 -0.02636718 -0.26445543 8.62817794] [ 0.03313565 0.99922674 0.02116507 -0.38224286] [ 0.26369287 -0.02916682 0.96416563 0.5050015 ] [ 0. 0. 0. 1. ]] SLAMing on 103.84538475 meters Centerline goodness : 0.940804 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96381372 -0.02213067 -0.26565645 8.63017084] [ 0.03003839 0.99921726 0.02574023 -0.38293536] [ 0.26487886 -0.03278868 0.96372407 0.5073965 ] [ 0. 0. 0. 1. ]] SLAMing on 103.87538475 meters Centerline goodness : 0.941859 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96382155 -0.02169438 -0.26566404 8.62975909] [ 0.02960266 0.99922873 0.02579962 -0.38183146] [ 0.26489944 -0.03273059 0.96372039 0.50746366] [ 0. 0. 0. 1. ]] SLAMing on 103.90538475 meters Centerline goodness : 0.942103 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96369231 -0.01690624 -0.26647949 8.63017631] [ 0.02590452 0.99920548 0.03028818 -0.38142929] [ 0.26575571 -0.0360915 0.96336458 0.50969985] [ 0. 0. 0. 1. ]] SLAMing on 103.93538475 meters Centerline goodness : 0.942266 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96366093 -0.01655683 -0.26661487 8.62998577] [ 0.0255222 0.99921809 0.03019662 -0.3797022 ] [ 0.26590644 -0.0359039 0.96332999 0.50980076] [ 0. 0. 0. 1. ]] SLAMing on 103.96538475 meters Centerline goodness : 0.942368 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.38, Z:0.51 [[ 0.96354999 -0.01182356 -0.26726695 8.63069097] [ 0.02163505 0.99919457 0.03379549 -0.37688973] [ 0.2666521 -0.03834598 0.96302972 0.51057257] [ 0. 0. 0. 1. ]] SLAMing on 103.99538474999999 meters Centerline goodness : 0.941224 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 9.63481584e-01 -6.84546189e-03 -2.67687088e-01 8.63079787e+00] [ 1.74504914e-02 9.99153292e-01 3.72582831e-02 -3.73566130e-01] [ 2.67205385e-01 -4.05689408e-02 9.62785253e-01 5.10909405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02538474999999 meters Centerline goodness : 0.936607 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 9.63485454e-01 -6.60661538e-03 -2.67679159e-01 8.63089206e+00] [ 1.70556858e-02 9.99179689e-01 3.67294539e-02 -3.71434090e-01] [ 2.67216921e-01 -3.99537462e-02 9.62807777e-01 5.10156430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05538474999999 meters Centerline goodness : 0.937590 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 9.63514854e-01 -6.23203845e-03 -2.67582300e-01 8.63067244e+00] [ 1.64703610e-02 9.99214800e-01 3.60348665e-02 -3.69201132e-01] [ 2.67147624e-01 -3.91273062e-02 9.62860946e-01 5.09129454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08538474999999 meters Centerline goodness : 0.941350 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 9.63444422e-01 -6.31083186e-03 -2.67833939e-01 8.63090684e+00] [ 1.65673164e-02 9.99212595e-01 3.60515397e-02 -3.69319457e-01] [ 2.67395531e-01 -3.91709444e-02 9.62790355e-01 5.09637405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11538474999999 meters Centerline goodness : 0.942287 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 0.9631758 -0.01242007 -0.26858539 8.6329916 ] [ 0.02193049 0.99923312 0.03243799 -0.37058284] [ 0.26797654 -0.03713369 0.96270954 0.5114642 ] [ 0. 0. 0. 1. ]] SLAMing on 104.14538474999999 meters Centerline goodness : 0.944938 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.37, Z:0.51 [[ 0.96313136 -0.01740849 -0.26846775 8.63377201] [ 0.02592745 0.99926546 0.0282188 -0.36976579] [ 0.26777931 -0.0341391 0.96287526 0.51064201] [ 0. 0. 0. 1. ]] SLAMing on 104.17538474999999 meters Centerline goodness : 0.939816 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.37, Z:0.51 [[ 0.96283561 -0.01977023 -0.26936358 8.63958466] [ 0.02812273 0.99923477 0.02718433 -0.36997511] [ 0.26862001 -0.03374928 0.96265481 0.5094161 ] [ 0. 0. 0. 1. ]] SLAMing on 104.20538475 meters Centerline goodness : 0.939010 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.37, Z:0.51 [[ 0.96275756 -0.02016729 -0.26961298 8.64136954] [ 0.02846449 0.99923279 0.02690002 -0.3694829 ] [ 0.26886363 -0.03357259 0.96259297 0.50870024] [ 0. 0. 0. 1. ]] SLAMing on 104.23538475 meters Centerline goodness : 0.941266 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.37, Z:0.51 [[ 0.96252133 -0.02051353 -0.27042907 8.64279518] [ 0.02919862 0.99917769 0.0281317 -0.372616 ] [ 0.26962961 -0.03497351 0.9623288 0.51113984] [ 0. 0. 0. 1. ]] SLAMing on 104.26538475 meters Centerline goodness : 0.942590 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.38, Z:0.51 [[ 0.96225529 -0.02120231 -0.27132124 8.64439151] [ 0.03023026 0.99911818 0.02913748 -0.37525988] [ 0.2704642 -0.0362398 0.96204771 0.51367029] [ 0. 0. 0. 1. ]] SLAMing on 104.29538475 meters Centerline goodness : 0.940486 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96203134 -0.02233423 -0.27202368 8.647672 ] [ 0.03130812 0.99909784 0.0286935 -0.37590529] [ 0.27113742 -0.0361206 0.96186267 0.5133448 ] [ 0. 0. 0. 1. ]] SLAMing on 104.32538475 meters Centerline goodness : 0.938193 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96195291 -0.02266707 -0.2722734 8.6495557 ] [ 0.03162183 0.99909219 0.02854562 -0.37551892] [ 0.27137918 -0.03606933 0.96179642 0.5127194 ] [ 0. 0. 0. 1. ]] SLAMing on 104.35538474999998 meters Centerline goodness : 0.939683 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96188999 -0.02295772 -0.27247128 8.6504507 ] [ 0.03194207 0.99908093 0.02858334 -0.37613018] [ 0.27156465 -0.03619733 0.96173926 0.51285767] [ 0. 0. 0. 1. ]] SLAMing on 104.38538474999999 meters Centerline goodness : 0.937107 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96178483 -0.02329209 -0.27281388 8.65156619] [ 0.03228941 0.99907112 0.02853596 -0.37603248] [ 0.27189581 -0.03625445 0.96164353 0.51305754] [ 0. 0. 0. 1. ]] SLAMing on 104.41538474999999 meters Centerline goodness : 0.941300 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96162935 -0.02385141 -0.27331321 8.65390801] [ 0.03284652 0.99905733 0.02838227 -0.37577821] [ 0.27237861 -0.03627061 0.96150628 0.51291312] [ 0. 0. 0. 1. ]] SLAMing on 104.44538474999999 meters Centerline goodness : 0.939926 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.38, Z:0.51 [[ 0.96156845 -0.02391374 -0.27352194 8.65452022] [ 0.03294914 0.99905097 0.02848694 -0.37613121] [ 0.27258113 -0.03640445 0.96144383 0.51318485] [ 0. 0. 0. 1. ]] SLAMing on 104.47538474999999 meters Centerline goodness : 0.941812 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.38, Z:0.51 [[ 0.96142044 -0.024004 -0.27403383 8.65594562] [ 0.03313669 0.99903735 0.02874611 -0.37640962] [ 0.27308001 -0.03671767 0.96129034 0.51375695] [ 0. 0. 0. 1. ]] SLAMing on 104.50538474999999 meters Centerline goodness : 0.942744 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.38, Z:0.51 [[ 0.96136155 -0.02410343 -0.27423164 8.65673848] [ 0.03323592 0.99903526 0.02870403 -0.37589612] [ 0.27327522 -0.03670929 0.96123519 0.51373759] [ 0. 0. 0. 1. ]] SLAMing on 104.53538474999999 meters Centerline goodness : 0.943183 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.38, Z:0.51 [[ 0.96124107 -0.02393884 -0.27466806 8.65772992] [ 0.03310562 0.99903722 0.02878636 -0.37536319] [ 0.2737145 -0.03676369 0.96110811 0.51393826] [ 0. 0. 0. 1. ]] SLAMing on 104.56538474999999 meters Centerline goodness : 0.943227 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.51 [[ 0.96114099 -0.02354202 -0.2750523 8.65829241] [ 0.03275698 0.99904379 0.02895657 -0.37408493] [ 0.2741076 -0.03684123 0.9609931 0.51431375] [ 0. 0. 0. 1. ]] SLAMing on 104.59538475 meters Centerline goodness : 0.939812 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.51 [[ 0.96112548 -0.02317384 -0.27513776 8.65821825] [ 0.03239981 0.99905319 0.02903411 -0.37259505] [ 0.27420442 -0.03681984 0.9609663 0.51442005] [ 0. 0. 0. 1. ]] SLAMing on 104.62538475 meters Centerline goodness : 0.940686 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.51 [[ 0.96102906 -0.02299589 -0.27548925 8.65891638] [ 0.03226266 0.99905418 0.02915257 -0.37117036] [ 0.2745583 -0.03690448 0.96086201 0.51476851] [ 0. 0. 0. 1. ]] SLAMing on 104.65538475 meters Centerline goodness : 0.942325 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.52 [[ 0.96086661 -0.02218741 -0.27612149 8.65725294] [ 0.03195082 0.99901136 0.03091031 -0.37236781] [ 0.27516268 -0.038523 0.96062557 0.51883662] [ 0. 0. 0. 1. ]] SLAMing on 104.68538475 meters Centerline goodness : 0.945252 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.52 [[ 0.96078027 -0.02248405 -0.2763978 8.65780551] [ 0.03227279 0.99900079 0.0309173 -0.37175701] [ 0.27542648 -0.03862486 0.96054587 0.51943396] [ 0. 0. 0. 1. ]] SLAMing on 104.71538475 meters Centerline goodness : 0.942983 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.52 [[ 0.96050564 -0.01997812 -0.27754242 8.66269147] [ 0.03058155 0.99895628 0.0339281 -0.37065894] [ 0.27657492 -0.04107581 0.9601141 0.51954604] [ 0. 0. 0. 1. ]] SLAMing on 104.74538474999999 meters Centerline goodness : 0.942369 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.37, Z:0.52 [[ 0.96030101 -0.02067453 -0.27819875 8.6649259 ] [ 0.03127421 0.99894199 0.03371691 -0.37052799] [ 0.27720733 -0.04107883 0.95993157 0.51978837] [ 0. 0. 0. 1. ]] SLAMing on 104.77538474999999 meters Centerline goodness : 0.941071 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.96022087 -0.02067392 -0.27847525 8.66615626] [ 0.03122985 0.9989499 0.03352307 -0.36946867] [ 0.27748977 -0.04088629 0.95985819 0.51940839] [ 0. 0. 0. 1. ]] SLAMing on 104.80538474999999 meters Centerline goodness : 0.943081 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.96013207 -0.02099074 -0.27875761 8.6673633 ] [ 0.0315199 0.99894681 0.03334306 -0.36922011] [ 0.27776413 -0.04080016 0.95978249 0.51933341] [ 0. 0. 0. 1. ]] SLAMing on 104.83538474999999 meters Centerline goodness : 0.944150 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.960054 -0.02085292 -0.27903669 8.66791261] [ 0.03142347 0.99894585 0.0334626 -0.36987924] [ 0.27804475 -0.0408942 0.95969723 0.51957396] [ 0. 0. 0. 1. ]] SLAMing on 104.86538474999999 meters Centerline goodness : 0.942541 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.95991517 -0.02148705 -0.27946586 8.66990724] [ 0.03201924 0.9989365 0.03317598 -0.36972014] [ 0.2784558 -0.04079441 0.9595823 0.51939902] [ 0. 0. 0. 1. ]] SLAMing on 104.89538474999999 meters Centerline goodness : 0.941914 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.95981129 -0.02159068 -0.27981447 8.67091612] [ 0.03217546 0.9989277 0.03328938 -0.37086405] [ 0.27879569 -0.04095468 0.95947677 0.51967718] [ 0. 0. 0. 1. ]] SLAMing on 104.92538474999999 meters Centerline goodness : 0.943457 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.9596964 -0.02195228 -0.28018016 8.67250983] [ 0.03251417 0.9989229 0.03310405 -0.37076535] [ 0.27915167 -0.04087966 0.95937646 0.51948491] [ 0. 0. 0. 1. ]] SLAMing on 104.95538475 meters Centerline goodness : 0.943593 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.37, Z:0.52 [[ 0.95956912 -0.0223245 -0.28058637 8.67446522] [ 0.03284613 0.99892037 0.03285167 -0.37052001] [ 0.27955005 -0.04073962 0.95926641 0.51908474] [ 0. 0. 0. 1. ]] SLAMing on 104.98538475 meters Centerline goodness : 0.941698 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95947345 -0.02252072 -0.28089769 8.67571869] [ 0.03305733 0.99891417 0.03282819 -0.37079193] [ 0.27985337 -0.04078351 0.9591761 0.51902398] [ 0. 0. 0. 1. ]] SLAMing on 105.01538475 meters Centerline goodness : 0.943780 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95933871 -0.02253584 -0.28135632 8.67701089] [ 0.03308814 0.99891374 0.03281023 -0.3703675 ] [ 0.28031129 -0.04078568 0.95904229 0.51912275] [ 0. 0. 0. 1. ]] SLAMing on 105.04538475 meters Centerline goodness : 0.942579 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95930284 -0.02265163 -0.2814693 8.67767802] [ 0.03315923 0.99891749 0.03262393 -0.36971626] [ 0.28042562 -0.04062954 0.95901549 0.51890967] [ 0. 0. 0. 1. ]] SLAMing on 105.07538475 meters Centerline goodness : 0.944482 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95913873 -0.02266967 -0.28202656 8.6788139 ] [ 0.03329508 0.99890261 0.03293947 -0.3695749 ] [ 0.28097034 -0.04098362 0.95884097 0.51975549] [ 0. 0. 0. 1. ]] SLAMing on 105.10538474999998 meters Centerline goodness : 0.945236 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95912606 -0.02274101 -0.2820639 8.67929468] [ 0.03337155 0.9989 0.03294121 -0.36950833] [ 0.28100451 -0.04100768 0.95882993 0.51960216] [ 0. 0. 0. 1. ]] SLAMing on 105.13538474999999 meters Centerline goodness : 0.945852 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95900312 -0.02306869 -0.28245503 8.68069042] [ 0.03375433 0.99888444 0.03302315 -0.36957336] [ 0.28137814 -0.04120339 0.95871196 0.51993143] [ 0. 0. 0. 1. ]] SLAMing on 105.16538474999999 meters Centerline goodness : 0.944497 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.95876381 -0.02392642 -0.28319513 8.68289269] [ 0.03465597 0.99885638 0.03293785 -0.37009294] [ 0.28208317 -0.04139403 0.95849654 0.52066657] [ 0. 0. 0. 1. ]] SLAMing on 105.19538474999999 meters Centerline goodness : 0.947343 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:0.52 [[ 0.9585586 -0.02471015 -0.2838218 8.68454131] [ 0.03552116 0.99882371 0.03300671 -0.37105775] [ 0.28267234 -0.04172055 0.95830879 0.52168116] [ 0. 0. 0. 1. ]] SLAMing on 105.22538474999999 meters Centerline goodness : 0.948753 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.95846837 -0.02481739 -0.28411702 8.68516079] [ 0.03569867 0.99881151 0.03318404 -0.37164223] [ 0.28295581 -0.04194845 0.95821518 0.52216065] [ 0. 0. 0. 1. ]] SLAMing on 105.25538474999999 meters Centerline goodness : 0.947523 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.95835537 -0.02472119 -0.28450633 8.68647622] [ 0.0356387 0.99881111 0.03326019 -0.37116437] [ 0.28334585 -0.04201452 0.95809702 0.52210636] [ 0. 0. 0. 1. ]] SLAMing on 105.28538474999999 meters Centerline goodness : 0.947915 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.95823405 -0.02516903 -0.28487545 8.68816307] [ 0.03610559 0.99879623 0.03320353 -0.37138636] [ 0.28369682 -0.04210235 0.9579893 0.52215649] [ 0. 0. 0. 1. ]] SLAMing on 105.31538474999999 meters Centerline goodness : 0.948249 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.95807876 -0.02548938 -0.28536884 8.68909444] [ 0.03656583 0.99876781 0.03355296 -0.37304125] [ 0.28416196 -0.04258112 0.95783027 0.52333515] [ 0. 0. 0. 1. ]] SLAMing on 105.34538475 meters Centerline goodness : 0.948986 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.95787526 -0.02611744 -0.28599451 8.69075878] [ 0.03724701 0.99874294 0.03354394 -0.37367637] [ 0.28475892 -0.04278335 0.95764395 0.5241138 ] [ 0. 0. 0. 1. ]] SLAMing on 105.37538475 meters Centerline goodness : 0.945386 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.52 [[ 0.9577253 -0.02681148 -0.28643219 8.69372535] [ 0.03780601 0.99874262 0.03292227 -0.37360795] [ 0.28518934 -0.04235934 0.95753471 0.52280358] [ 0. 0. 0. 1. ]] SLAMing on 105.40538475 meters Centerline goodness : 0.944965 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.957599 -0.02744295 -0.28679442 8.69581853] [ 0.03836378 0.99873427 0.03252819 -0.37322676] [ 0.28553875 -0.04215148 0.95743975 0.52229016] [ 0. 0. 0. 1. ]] SLAMing on 105.43538475 meters Centerline goodness : 0.943351 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.95748614 -0.02770929 -0.2871454 8.69783767] [ 0.03865448 0.99872341 0.03251735 -0.37335701] [ 0.2858778 -0.04223437 0.95733492 0.52189065] [ 0. 0. 0. 1. ]] SLAMing on 105.46538475 meters Centerline goodness : 0.943351 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.95748614 -0.02770929 -0.2871454 8.69783767] [ 0.03865448 0.99872341 0.03251735 -0.37335701] [ 0.2858778 -0.04223437 0.95733492 0.52189065] [ 0. 0. 0. 1. ]] SLAMing on 105.49538474999999 meters Centerline goodness : 0.942141 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.95737168 -0.02813416 -0.28748554 8.69911524] [ 0.03909124 0.99870882 0.03244343 -0.37320896] [ 0.28620157 -0.04229859 0.95723534 0.52213389] [ 0. 0. 0. 1. ]] SLAMing on 105.52538474999999 meters Centerline goodness : 0.945848 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.95723284 -0.02805876 -0.28795486 8.69996384] [ 0.03913813 0.99869565 0.03279035 -0.37372243] [ 0.28665921 -0.04265801 0.95708244 0.52293865] [ 0. 0. 0. 1. ]] SLAMing on 105.55538474999999 meters Centerline goodness : 0.943201 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.37, Z:0.52 [[ 0.95704349 -0.02889362 -0.28850116 8.70171794] [ 0.04001579 0.99866294 0.0327273 -0.3744022 ] [ 0.28716981 -0.04286606 0.95692006 0.52357532] [ 0. 0. 0. 1. ]] SLAMing on 105.58538474999999 meters Centerline goodness : 0.948117 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.38, Z:0.53 [[ 0.95650896 -0.03339219 -0.28978538 8.70879739] [ 0.04530572 0.99837729 0.03449906 -0.37672755] [ 0.28816314 -0.04612759 0.95646968 0.52974612] [ 0. 0. 0. 1. ]] SLAMing on 105.61538474999999 meters Centerline goodness : 0.948432 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.38, Z:0.53 [[ 0.9563082 -0.0346131 -0.29030427 8.71202735] [ 0.04644458 0.99834334 0.03396292 -0.37660179] [ 0.28864777 -0.04596208 0.95633151 0.5291546 ] [ 0. 0. 0. 1. ]] SLAMing on 105.64538474999999 meters Centerline goodness : 0.944170 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.38, Z:0.53 [[ 0.95608664 -0.03575287 -0.29089528 8.71611778] [ 0.04737822 0.9983312 0.03301695 -0.37560425] [ 0.28922938 -0.04534917 0.95618503 0.52746079] [ 0. 0. 0. 1. ]] SLAMing on 105.67538474999999 meters Centerline goodness : 0.943996 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.95604028 -0.03553674 -0.29107408 8.71687077] [ 0.04714628 0.99834383 0.03296707 -0.37495598] [ 0.28942047 -0.04524091 0.95613234 0.52706428] [ 0. 0. 0. 1. ]] SLAMing on 105.70538475 meters Centerline goodness : 0.945317 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.38, Z:0.53 [[ 0.9560146 -0.03483138 -0.29124363 8.71617167] [ 0.04664754 0.99834195 0.03372469 -0.3764033 ] [ 0.28958606 -0.04582709 0.95605428 0.52829679] [ 0. 0. 0. 1. ]] SLAMing on 105.73538475 meters Centerline goodness : 0.949112 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.38, Z:0.53 [[ 0.95594581 -0.03449377 -0.29150951 8.71583016] [ 0.04637008 0.99834797 0.03392855 -0.37688863] [ 0.28985761 -0.04595117 0.95596603 0.52911359] [ 0. 0. 0. 1. ]] SLAMing on 105.76538475 meters Centerline goodness : 0.946585 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.38, Z:0.53 [[ 0.95591157 -0.0348134 -0.29158378 8.71695002] [ 0.04658478 0.99835166 0.03352351 -0.37588146] [ 0.28993608 -0.04562887 0.95595767 0.52848446] [ 0. 0. 0. 1. ]] SLAMing on 105.79538475 meters Centerline goodness : 0.945931 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.95579318 -0.03523376 -0.29192117 8.71867753] [ 0.04691229 0.99835043 0.03310074 -0.37463711] [ 0.29027337 -0.04533215 0.95586943 0.527961 ] [ 0. 0. 0. 1. ]] SLAMing on 105.82538475 meters Centerline goodness : 0.943951 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.95580475 -0.03531346 -0.29187368 8.71971416] [ 0.04679404 0.99837751 0.03244488 -0.37227985] [ 0.29025438 -0.04466892 0.95590642 0.52657095] [ 0. 0. 0. 1. ]] SLAMing on 105.85538474999998 meters Centerline goodness : 0.943954 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.9556859 -0.03558211 -0.29223001 8.72085348] [ 0.0470582 0.99836871 0.03233344 -0.37128304] [ 0.2906028 -0.04465243 0.95580132 0.52675124] [ 0. 0. 0. 1. ]] SLAMing on 105.88538474999999 meters Centerline goodness : 0.945400 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.95542194 -0.03641863 -0.29298908 8.72244976] [ 0.04797299 0.99832478 0.03234531 -0.37230517] [ 0.29132029 -0.04495898 0.95556851 0.52815207] [ 0. 0. 0. 1. ]] SLAMing on 105.91538474999999 meters Centerline goodness : 0.945302 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.37, Z:0.53 [[ 0.95525221 -0.03672592 -0.29350371 8.72386933] [ 0.04829754 0.99831145 0.03227363 -0.37165097] [ 0.29182283 -0.04500496 0.95541299 0.52848721] [ 0. 0. 0. 1. ]] SLAMing on 105.94538474999999 meters Centerline goodness : 0.943802 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95501675 -0.03774331 -0.29414018 8.72738338] [ 0.04923484 0.99828217 0.03175909 -0.3711273 ] [ 0.2924362 -0.04481241 0.95523448 0.52777836] [ 0. 0. 0. 1. ]] SLAMing on 105.97538474999999 meters Centerline goodness : 0.943494 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95493987 -0.03810502 -0.29434309 8.72887213] [ 0.0495494 0.99827421 0.03151911 -0.37061686] [ 0.29263408 -0.04468338 0.95517993 0.52729323] [ 0. 0. 0. 1. ]] SLAMing on 106.00538474999999 meters Centerline goodness : 0.945091 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95466933 -0.04349949 -0.29447284 8.73069608] [ 0.05401054 0.99815741 0.02765237 -0.37185621] [ 0.29272739 -0.04230351 0.9552597 0.52718065] [ 0. 0. 0. 1. ]] SLAMing on 106.03538474999999 meters Centerline goodness : 0.945347 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95459458 -0.04350276 -0.29471459 8.73111949] [ 0.05413918 0.99814007 0.02802412 -0.37247905] [ 0.29294732 -0.04270728 0.95517431 0.52789159] [ 0. 0. 0. 1. ]] SLAMing on 106.06538474999999 meters Centerline goodness : 0.948150 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95452091 -0.04318757 -0.29499945 8.73142433] [ 0.05399477 0.99813202 0.02858392 -0.37353238] [ 0.29321393 -0.04321237 0.95506978 0.52869255] [ 0. 0. 0. 1. ]] SLAMing on 106.09538475 meters Centerline goodness : 0.948238 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95440139 -0.0475392 -0.29471683 8.73049774] [ 0.05746552 0.99803173 0.02510728 -0.37395063] [ 0.29294317 -0.04089848 0.95525474 0.52914807] [ 0. 0. 0. 1. ]] SLAMing on 106.12538475 meters Centerline goodness : 0.948329 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.37, Z:0.53 [[ 0.95411558 -0.04859201 -0.29546958 8.73321668] [ 0.05861182 0.99796414 0.02514428 -0.37386321] [ 0.29364623 -0.04130855 0.9550212 0.53004018] [ 0. 0. 0. 1. ]] SLAMing on 106.15538475 meters Centerline goodness : 0.943498 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95379819 -0.04632424 -0.29685531 8.7391926 ] [ 0.05711716 0.99798083 0.02778304 -0.37319961] [ 0.29496888 -0.04345495 0.95451822 0.52955766] [ 0. 0. 0. 1. ]] SLAMing on 106.18538475 meters Centerline goodness : 0.943108 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95362203 -0.04272195 -0.29795948 8.74198695] [ 0.05460511 0.99800571 0.03166833 -0.37451918] [ 0.29601233 -0.04646973 0.95405307 0.53092737] [ 0. 0. 0. 1. ]] SLAMing on 106.21538475 meters Centerline goodness : 0.943195 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95345623 -0.04274658 -0.2984861 8.74289981] [ 0.05456473 0.99801737 0.03136914 -0.37293377] [ 0.29655339 -0.04619591 0.95389833 0.53117446] [ 0. 0. 0. 1. ]] SLAMing on 106.24538474999999 meters Centerline goodness : 0.945555 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95330001 -0.04281557 -0.29897479 8.74366695] [ 0.05466405 0.9980117 0.03137654 -0.37187145] [ 0.29703694 -0.04625443 0.95374503 0.53187061] [ 0. 0. 0. 1. ]] SLAMing on 106.27538474999999 meters Centerline goodness : 0.945102 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.9532883 -0.04235599 -0.29907755 8.7431334 ] [ 0.05424931 0.99802814 0.03157296 -0.37140288] [ 0.29715051 -0.04632288 0.95370633 0.53231394] [ 0. 0. 0. 1. ]] SLAMing on 106.30538474999999 meters Centerline goodness : 0.946311 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95313756 -0.04216585 -0.29958444 8.7438115 ] [ 0.05399976 0.99804937 0.03132872 -0.36944973] [ 0.29767906 -0.04603807 0.95355528 0.53251128] [ 0. 0. 0. 1. ]] SLAMing on 106.33538474999999 meters Centerline goodness : 0.945390 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.37, Z:0.53 [[ 0.95309115 -0.04177275 -0.29978707 8.74431295] [ 0.05348058 0.99808908 0.03095179 -0.36595246] [ 0.29792126 -0.04553266 0.95350391 0.53180953] [ 0. 0. 0. 1. ]] SLAMing on 106.36538474999999 meters Centerline goodness : 0.944139 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.36, Z:0.53 [[ 0.95304388 -0.04163841 -0.29995601 8.74472847] [ 0.05327607 0.99810716 0.03072063 -0.36386325] [ 0.29810908 -0.04525859 0.95345825 0.53154032] [ 0. 0. 0. 1. ]] SLAMing on 106.39538474999999 meters Centerline goodness : 0.942712 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.36, Z:0.53 [[ 0.95296489 -0.04167669 -0.30020154 8.74533491] [ 0.05323149 0.99811902 0.03041107 -0.3621839 ] [ 0.29836943 -0.04496086 0.9533909 0.53142951] [ 0. 0. 0. 1. ]] SLAMing on 106.42538474999999 meters Centerline goodness : 0.944465 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.36, Z:0.53 [[ 0.95302788 -0.0408377 -0.30011688 8.7442433 ] [ 0.05229276 0.99817406 0.03023263 -0.35959303] [ 0.29833425 -0.04450648 0.95342323 0.53111179] [ 0. 0. 0. 1. ]] SLAMing on 106.45538475 meters Centerline goodness : 0.941259 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.36, Z:0.53 [[ 0.95284848 -0.03691136 -0.30119316 8.74678355] [ 0.04926887 0.99822247 0.03353336 -0.35794403] [ 0.29942002 -0.04679165 0.95297334 0.53169589] [ 0. 0. 0. 1. ]] SLAMing on 106.48538475 meters Centerline goodness : 0.941151 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.36, Z:0.53 [[ 0.95275092 -0.03685627 -0.30150837 8.74760476] [ 0.04913824 0.99823838 0.03325002 -0.35659889] [ 0.29975175 -0.04649458 0.95288359 0.53152933] [ 0. 0. 0. 1. ]] SLAMing on 106.51538475 meters Centerline goodness : 0.941012 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.9526843 -0.03631505 -0.30178443 8.74754619] [ 0.04846064 0.99828461 0.03285439 -0.35415525] [ 0.30007364 -0.04592453 0.95280992 0.53132424] [ 0. 0. 0. 1. ]] SLAMing on 106.54538475 meters Centerline goodness : 0.941924 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.95261298 -0.03613338 -0.30203126 8.74788636] [ 0.04821474 0.99830359 0.03263872 -0.35239651] [ 0.30033955 -0.04565443 0.95273912 0.53128648] [ 0. 0. 0. 1. ]] SLAMing on 106.57538475 meters Centerline goodness : 0.941573 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.95263456 -0.03563287 -0.30202265 8.74765991] [ 0.04765812 0.99833359 0.03253823 -0.35065409] [ 0.30035993 -0.04539088 0.95274529 0.53098512] [ 0. 0. 0. 1. ]] SLAMing on 106.60538474999998 meters Centerline goodness : 0.941853 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.95253986 -0.03100735 -0.30283058 8.74880063] [ 0.0439718 0.99838085 0.03608538 -0.34910597] [ 0.30122134 -0.04768877 0.95236101 0.53169729] [ 0. 0. 0. 1. ]] SLAMing on 106.63538474999999 meters Centerline goodness : 0.941724 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.9524005 -0.03144507 -0.30322352 8.75019009] [ 0.0442879 0.99838539 0.03556953 -0.34749768] [ 0.30161545 -0.04730557 0.95225538 0.53152214] [ 0. 0. 0. 1. ]] SLAMing on 106.66538474999999 meters Centerline goodness : 0.941640 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.95235733 -0.03165846 -0.30333687 8.75065876] [ 0.04438133 0.99839646 0.03513977 -0.34554432] [ 0.30173799 -0.04692811 0.95223523 0.53129761] [ 0. 0. 0. 1. ]] SLAMing on 106.69538474999999 meters Centerline goodness : 0.941484 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.34, Z:0.53 [[ 0.9521217 -0.03284909 -0.30394933 8.7532989 ] [ 0.04540055 0.99837921 0.03431821 -0.34434842] [ 0.30232937 -0.04647458 0.95206988 0.53107669] [ 0. 0. 0. 1. ]] SLAMing on 106.72538474999999 meters Centerline goodness : 0.940666 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.34, Z:0.53 [[ 0.95197553 -0.03315846 -0.30437329 8.7540286 ] [ 0.04573969 0.99836449 0.03429618 -0.3444301 ] [ 0.30273828 -0.04657107 0.95193522 0.53181957] [ 0. 0. 0. 1. ]] SLAMing on 106.75538474999999 meters Centerline goodness : 0.942436 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.35, Z:0.53 [[ 0.95171248 -0.03321485 -0.30518867 8.75476369] [ 0.04610054 0.99831957 0.03511081 -0.34571663] [ 0.30350962 -0.04748476 0.95164442 0.53408391] [ 0. 0. 0. 1. ]] SLAMing on 106.78538474999999 meters Centerline goodness : 0.944062 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.35, Z:0.53 [[ 0.95154219 -0.0337502 -0.30566057 8.75620347] [ 0.04664734 0.99829852 0.03498696 -0.34609208] [ 0.30395967 -0.04754982 0.95149752 0.53448888] [ 0. 0. 0. 1. ]] SLAMing on 106.81538474999999 meters Centerline goodness : 0.944921 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.35, Z:0.53 [[ 0.9511772 -0.03522348 -0.30662884 8.76030092] [ 0.04802859 0.99825638 0.03431393 -0.34578431] [ 0.30488554 -0.04736558 0.95121044 0.53437708] [ 0. 0. 0. 1. ]] SLAMing on 106.84538475 meters Centerline goodness : 0.943097 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.35, Z:0.53 [[ 0.95105927 -0.03562891 -0.30694762 8.761803 ] [ 0.04840185 0.99824572 0.03409907 -0.34623317] [ 0.30519424 -0.04728707 0.95111535 0.5341666 ] [ 0. 0. 0. 1. ]] SLAMing on 106.87538475 meters Centerline goodness : 0.943513 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.35, Z:0.54 [[ 0.95077778 -0.03601436 -0.30777358 8.76387682] [ 0.0489726 0.99820476 0.03448103 -0.34752733] [ 0.30597924 -0.04785627 0.95083462 0.53529924] [ 0. 0. 0. 1. ]] SLAMing on 106.90538475 meters Centerline goodness : 0.945719 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.35, Z:0.54 [[ 0.95058536 -0.03636706 -0.30832599 8.76555959] [ 0.04936911 0.99818555 0.03447157 -0.34785361] [ 0.30651292 -0.04798995 0.95065598 0.53566903] [ 0. 0. 0. 1. ]] SLAMing on 106.93538475 meters Centerline goodness : 0.943430 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.35, Z:0.54 [[ 0.95039026 -0.03692739 -0.30886036 8.76744061] [ 0.05005431 0.9981441 0.03468322 -0.34983536] [ 0.30700638 -0.04842239 0.9504748 0.53634407] [ 0. 0. 0. 1. ]] SLAMing on 106.96538475 meters Centerline goodness : 0.943449 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.35, Z:0.54 [[ 0.95008808 -0.03776316 -0.30968787 8.76947464] [ 0.05104568 0.99808646 0.03489641 -0.35124077] [ 0.30777748 -0.04896289 0.9501977 0.5377622 ] [ 0. 0. 0. 1. ]] SLAMing on 106.99538474999999 meters Centerline goodness : 0.944102 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.35, Z:0.54 [[ 0.94980144 -0.03857827 -0.31046569 8.77221837] [ 0.05186493 0.99805274 0.03465194 -0.35131553] [ 0.30852432 -0.04901475 0.94995279 0.5380622 ] [ 0. 0. 0. 1. ]] SLAMing on 107.02538474999999 meters Centerline goodness : 0.942493 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.35, Z:0.54 [[ 0.94958651 -0.03931166 -0.31103065 8.77467692] [ 0.05259283 0.99802247 0.03442595 -0.35171447] [ 0.30906223 -0.04904841 0.94977618 0.53807843] [ 0. 0. 0. 1. ]] SLAMing on 107.05538474999999 meters Centerline goodness : 0.942787 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94940836 -0.03966699 -0.31152897 8.77651192] [ 0.05298921 0.99800195 0.03441307 -0.35174091] [ 0.30954146 -0.04917973 0.94961331 0.53821781] [ 0. 0. 0. 1. ]] SLAMing on 107.08538474999999 meters Centerline goodness : 0.944737 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94920559 -0.03992437 -0.31211342 8.77793371] [ 0.0533073 0.99798335 0.03446099 -0.35210431] [ 0.31010816 -0.04934849 0.94941964 0.53882278] [ 0. 0. 0. 1. ]] SLAMing on 107.11538474999999 meters Centerline goodness : 0.945189 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94918496 -0.03988461 -0.31218123 8.7783282 ] [ 0.05328413 0.99798301 0.03450666 -0.35239748] [ 0.31017528 -0.04938751 0.94939569 0.53878912] [ 0. 0. 0. 1. ]] SLAMing on 107.14538474999999 meters Centerline goodness : 0.944441 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94893543 -0.04021563 -0.31289655 8.78011995] [ 0.05371932 0.99795461 0.03465297 -0.35356595] [ 0.31086296 -0.04969202 0.94915485 0.53953763] [ 0. 0. 0. 1. ]] SLAMing on 107.17538474999999 meters Centerline goodness : 0.945215 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94871196 -0.04073083 -0.31350695 8.78213571] [ 0.05427202 0.99792712 0.03458332 -0.35397794] [ 0.31144849 -0.04982427 0.94895594 0.539906 ] [ 0. 0. 0. 1. ]] SLAMing on 107.20538475 meters Centerline goodness : 0.944628 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.35, Z:0.54 [[ 0.94855837 -0.04109321 -0.31392413 8.78410295] [ 0.05455507 0.9979244 0.03421446 -0.35444482] [ 0.31186657 -0.04958057 0.94883139 0.53938798] [ 0. 0. 0. 1. ]] SLAMing on 107.23538475 meters Centerline goodness : 0.945963 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.94844309 -0.04126135 -0.31425022 8.78517799] [ 0.05473312 0.9979164 0.03416346 -0.35510225] [ 0.31218582 -0.04960199 0.94872528 0.53957422] [ 0. 0. 0. 1. ]] SLAMing on 107.26538475 meters Centerline goodness : 0.945436 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.94831117 -0.04158368 -0.31460566 8.78671572] [ 0.05501294 0.99790919 0.03392391 -0.35503661] [ 0.3125372 -0.04947781 0.94861607 0.5393816 ] [ 0. 0. 0. 1. ]] SLAMing on 107.29538475 meters Centerline goodness : 0.944774 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.94821358 -0.04183188 -0.3148668 8.78749665] [ 0.05528728 0.99789415 0.03392027 -0.35535755] [ 0.31278478 -0.04957179 0.94852955 0.53965155] [ 0. 0. 0. 1. ]] SLAMing on 107.32538475 meters Centerline goodness : 0.942805 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.9480357 -0.04234299 -0.31533376 8.78956462] [ 0.05570561 0.99788574 0.03348022 -0.35505468] [ 0.31324941 -0.04930631 0.94839006 0.53920018] [ 0. 0. 0. 1. ]] SLAMing on 107.35538474999998 meters Centerline goodness : 0.942805 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.9480357 -0.04234299 -0.31533376 8.78956462] [ 0.05570561 0.99788574 0.03348022 -0.35505468] [ 0.31324941 -0.04930631 0.94839006 0.53920018] [ 0. 0. 0. 1. ]] SLAMing on 107.38538474999999 meters Centerline goodness : 0.942330 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.35, Z:0.54 [[ 0.9478976 -0.04266671 -0.31570506 8.7909487 ] [ 0.05598514 0.99787835 0.03323354 -0.35499333] [ 0.31361728 -0.04917678 0.94827519 0.53906565] [ 0. 0. 0. 1. ]] SLAMing on 107.41538474999999 meters Centerline goodness : 0.944577 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.36, Z:0.54 [[ 0.94749103 -0.04358719 -0.31679789 8.79341758] [ 0.05724116 0.99778408 0.03391713 -0.35719887] [ 0.31461754 -0.05027005 0.94788645 0.54149351] [ 0. 0. 0. 1. ]] SLAMing on 107.44538474999999 meters Centerline goodness : 0.945019 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.54 [[ 0.94728725 -0.04414294 -0.31732989 8.79507576] [ 0.05780942 0.9977561 0.03377632 -0.35732358] [ 0.31512685 -0.05034054 0.94771351 0.54190698] [ 0. 0. 0. 1. ]] SLAMing on 107.47538474999999 meters Centerline goodness : 0.944948 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.54 [[ 0.94698365 -0.04488468 -0.31813098 8.79748422] [ 0.05873087 0.99769258 0.03406165 -0.35814947] [ 0.31586808 -0.05093993 0.94743468 0.54308328] [ 0. 0. 0. 1. ]] SLAMing on 107.50538474999999 meters Centerline goodness : 0.945166 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94678266 -0.04477472 -0.31874413 8.79823191] [ 0.05899652 0.99764093 0.0350996 -0.3603513 ] [ 0.31642062 -0.05203649 0.94719069 0.54505456] [ 0. 0. 0. 1. ]] SLAMing on 107.53538474999999 meters Centerline goodness : 0.946473 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94660223 -0.04487363 -0.31926567 8.79935109] [ 0.05927077 0.99760989 0.03551734 -0.36123374] [ 0.3169088 -0.05254392 0.94699945 0.54603122] [ 0. 0. 0. 1. ]] SLAMing on 107.56538474999999 meters Centerline goodness : 0.948601 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.9464525 -0.04434565 -0.31978295 8.79926908] [ 0.05906094 0.99758828 0.0364612 -0.36248177] [ 0.31739483 -0.05339548 0.94678902 0.54784162] [ 0. 0. 0. 1. ]] SLAMing on 107.59538475 meters Centerline goodness : 0.949167 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94632314 -0.04437927 -0.32016088 8.80029382] [ 0.05915073 0.99757949 0.03655616 -0.3624207 ] [ 0.31776359 -0.05353169 0.94665762 0.54819024] [ 0. 0. 0. 1. ]] SLAMing on 107.62538475 meters Centerline goodness : 0.950375 Centerline is valid? [False, True] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94630143 -0.04411527 -0.32026153 8.80045192] [ 0.05879799 0.99760909 0.03631663 -0.36145674] [ 0.3178937 -0.05319721 0.9466328 0.54778185] [ 0. 0. 0. 1. ]] SLAMing on 107.65538475 meters Centerline goodness : 0.948502 Centerline is valid? [True, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94618859 -0.04392074 -0.32062146 8.80145669] [ 0.05843787 0.9976492 0.03579223 -0.35926336] [ 0.31829573 -0.05260264 0.94653093 0.54709446] [ 0. 0. 0. 1. ]] SLAMing on 107.68538475 meters Centerline goodness : 0.947101 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94615997 -0.04372299 -0.32073292 8.8017509 ] [ 0.05815425 0.99767445 0.03554956 -0.35802981] [ 0.31843271 -0.05228756 0.94650231 0.54669681] [ 0. 0. 0. 1. ]] SLAMing on 107.71538475 meters Centerline goodness : 0.944429 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:0.55 [[ 0.94599256 -0.04366812 -0.32123383 8.80296294] [ 0.05792586 0.99770868 0.03495698 -0.35571708] [ 0.31897128 -0.05167679 0.9463545 0.54626587] [ 0. 0. 0. 1. ]] SLAMing on 107.74538474999999 meters Centerline goodness : 0.943293 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:0.55 [[ 0.94560189 -0.04474209 -0.3222347 8.80577139] [ 0.05895585 0.99766489 0.03448156 -0.35559511] [ 0.31993947 -0.05160345 0.94603162 0.54698911] [ 0. 0. 0. 1. ]] SLAMing on 107.77538474999999 meters Centerline goodness : 0.943279 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.35, Z:0.55 [[ 0.94538925 -0.04536544 -0.32277103 8.80822051] [ 0.05943114 0.99765826 0.03385173 -0.35443682] [ 0.32047949 -0.05118571 0.94587151 0.54633535] [ 0. 0. 0. 1. ]] SLAMing on 107.80538474999999 meters Centerline goodness : 0.941390 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.35, Z:0.55 [[ 0.94514744 -0.04575244 -0.32342392 8.81043248] [ 0.05976992 0.99764866 0.03353656 -0.35339436] [ 0.32112906 -0.05102802 0.9456597 0.5462198 ] [ 0. 0. 0. 1. ]] SLAMing on 107.83538474999999 meters Centerline goodness : 0.940391 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.35, Z:0.55 [[ 0.944864 -0.04637361 -0.32416279 8.81211064] [ 0.0605197 0.99759833 0.03368877 -0.35419337] [ 0.32182199 -0.05144954 0.94540126 0.54748056] [ 0. 0. 0. 1. ]] SLAMing on 107.86538474999999 meters Centerline goodness : 0.943734 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:0.55 [[ 0.94454625 -0.04658679 -0.325057 8.81356098] [ 0.06102913 0.99754403 0.03437077 -0.35554562] [ 0.32265745 -0.05230272 0.94506962 0.54945642] [ 0. 0. 0. 1. ]] SLAMing on 107.89538474999999 meters Centerline goodness : 0.943999 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:0.55 [[ 0.94411754 -0.04690857 -0.32625398 8.81496279] [ 0.06184035 0.99745305 0.03554119 -0.35744661] [ 0.32375584 -0.05373072 0.94461376 0.55276577] [ 0. 0. 0. 1. ]] SLAMing on 107.92538474999999 meters Centerline goodness : 0.944092 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:0.55 [[ 0.94384124 -0.04707579 -0.32702841 8.81627302] [ 0.06222168 0.99741284 0.03600114 -0.35838547] [ 0.32448755 -0.05432762 0.94432851 0.55425802] [ 0. 0. 0. 1. ]] SLAMing on 107.95538475 meters Centerline goodness : 0.944129 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:0.55 [[ 0.94369977 -0.04750409 -0.32737457 8.81787558] [ 0.06272296 0.99737855 0.03608126 -0.35933429] [ 0.32480236 -0.05458378 0.94420551 0.55451998] [ 0. 0. 0. 1. ]] SLAMing on 107.98538475 meters Centerline goodness : 0.943827 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:0.56 [[ 0.94351991 -0.04769504 -0.32786484 8.81924655] [ 0.06303246 0.99735086 0.03630671 -0.35979459] [ 0.32526463 -0.05492223 0.94402673 0.55513588] [ 0. 0. 0. 1. ]] SLAMing on 108.01538475 meters Centerline goodness : 0.944784 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:0.56 [[ 0.94334357 -0.04796517 -0.32833253 8.82037173] [ 0.06342971 0.9973169 0.0365469 -0.3608458 ] [ 0.3256986 -0.05530232 0.9438549 0.55595921] [ 0. 0. 0. 1. ]] SLAMing on 108.04538475 meters Centerline goodness : 0.944984 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:0.56 [[ 0.94299814 -0.04844297 -0.32925336 8.82270282] [ 0.06414948 0.99725409 0.03700158 -0.36367965] [ 0.3265568 -0.05601385 0.94351635 0.55736192] [ 0. 0. 0. 1. ]] SLAMing on 108.07538475 meters Centerline goodness : 0.942942 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.37, Z:0.56 [[ 0.9426405 -0.04932588 -0.3301452 8.82563385] [ 0.06519037 0.99718115 0.03714803 -0.36632795] [ 0.32738221 -0.05653953 0.9431989 0.55837107] [ 0. 0. 0. 1. ]] SLAMing on 108.10538474999998 meters Centerline goodness : 0.941812 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.37, Z:0.56 [[ 0.94229759 -0.05018241 -0.33099393 8.82868758] [ 0.06605314 0.99713476 0.03686801 -0.36664329] [ 0.32819543 -0.05660383 0.94291238 0.55862447] [ 0. 0. 0. 1. ]] SLAMing on 108.13538474999999 meters Centerline goodness : 0.937271 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.37, Z:0.56 [[ 0.94205131 -0.05114031 -0.33154787 8.83177715] [ 0.06689098 0.99710112 0.03626227 -0.36676002] [ 0.32873229 -0.05633848 0.94274125 0.55804251] [ 0. 0. 0. 1. ]] SLAMing on 108.16538474999999 meters Centerline goodness : 0.939704 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.37, Z:0.56 [[ 0.94187671 -0.0514278 -0.33199915 8.83326925] [ 0.06716332 0.9970891 0.03608886 -0.36625093] [ 0.32917676 -0.05628942 0.94258907 0.55810655] [ 0. 0. 0. 1. ]] SLAMing on 108.19538474999999 meters Centerline goodness : 0.933671 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.36, Z:0.56 [[ 0.94179132 -0.05130064 -0.33226096 8.83393925] [ 0.06688747 0.99712388 0.03563749 -0.36469708] [ 0.32947711 -0.05578718 0.94251399 0.55763577] [ 0. 0. 0. 1. ]] SLAMing on 108.22538474999999 meters Centerline goodness : 0.933157 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.36, Z:0.56 [[ 0.94159543 -0.0513969 -0.33280084 8.83491669] [ 0.06693258 0.99713007 0.03537858 -0.36328786] [ 0.33002738 -0.05558753 0.94233325 0.55798368] [ 0. 0. 0. 1. ]] SLAMing on 108.25538474999999 meters Centerline goodness : 0.933649 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.36, Z:0.56 [[ 0.94146365 -0.04669173 -0.33386535 8.83564008] [ 0.06330914 0.99722928 0.03906034 -0.36147326] [ 0.33111651 -0.05791062 0.94181114 0.55949074] [ 0. 0. 0. 1. ]] SLAMing on 108.28538474999999 meters Centerline goodness : 0.933792 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.36, Z:0.56 [[ 0.9414011 -0.04654747 -0.33406183 8.83575258] [ 0.06298305 0.99727051 0.03853147 -0.35894911] [ 0.33135647 -0.0573138 0.94176325 0.55913002] [ 0. 0. 0. 1. ]] SLAMing on 108.31538474999999 meters Centerline goodness : 0.934192 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.36, Z:0.56 [[ 0.94145779 -0.0409654 -0.33463272 8.83433899] [ 0.05848246 0.99738608 0.04243593 -0.35546803] [ 0.33201961 -0.05952178 0.94139266 0.56055848] [ 0. 0. 0. 1. ]] SLAMing on 108.34538475 meters Centerline goodness : 0.934440 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.35, Z:0.56 [[ 0.94145396 -0.04073066 -0.33467215 8.83402169] [ 0.05806772 0.99743054 0.04195773 -0.35267097] [ 0.33210326 -0.05893492 0.94140008 0.56018168] [ 0. 0. 0. 1. ]] SLAMing on 108.37538475 meters Centerline goodness : 0.936566 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.35, Z:0.56 [[ 0.94123419 -0.04111064 -0.33524338 8.83354287] [ 0.05856256 0.99739514 0.04211131 -0.35156449] [ 0.33263889 -0.05926932 0.94118995 0.56240328] [ 0. 0. 0. 1. ]] SLAMing on 108.40538475 meters Centerline goodness : 0.939084 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.35, Z:0.56 [[ 0.94104321 -0.04161055 -0.33571749 8.8343784 ] [ 0.05900956 0.9973824 0.04178788 -0.35069594] [ 0.33309989 -0.05913474 0.94103536 0.56303634] [ 0. 0. 0. 1. ]] SLAMing on 108.43538475 meters Centerline goodness : 0.941046 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.35, Z:0.56 [[ 0.9409526 -0.04158227 -0.33597489 8.83486676] [ 0.0588715 0.9974053 0.04143441 -0.34825124] [ 0.3333802 -0.05876716 0.94095912 0.56296366] [ 0. 0. 0. 1. ]] SLAMing on 108.46538475 meters Centerline goodness : 0.940322 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.35, Z:0.56 [[ 0.94087624 -0.04146437 -0.33620323 8.8352025 ] [ 0.05870407 0.9974219 0.04127202 -0.34676353] [ 0.33362515 -0.05856836 0.94088469 0.56297196] [ 0. 0. 0. 1. ]] SLAMing on 108.49538474999999 meters Centerline goodness : 0.939350 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.9408203 -0.0404611 -0.33648188 8.83504808] [ 0.05762731 0.99748836 0.04118339 -0.34485445] [ 0.33397043 -0.05813672 0.94078896 0.56266252] [ 0. 0. 0. 1. ]] SLAMing on 108.52538474999999 meters Centerline goodness : 0.939276 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.34, Z:0.56 [[ 0.94076899 -0.04004725 -0.33667479 8.83490238] [ 0.05718598 0.99751552 0.0411407 -0.34484993] [ 0.33419076 -0.05795697 0.94072181 0.56276671] [ 0. 0. 0. 1. ]] SLAMing on 108.55538474999999 meters Centerline goodness : 0.940038 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.35, Z:0.56 [[ 0.9405865 -0.04043872 -0.33713758 8.83593392] [ 0.05758947 0.99749715 0.04102293 -0.34520588] [ 0.33463486 -0.05800119 0.9405612 0.56334913] [ 0. 0. 0. 1. ]] SLAMing on 108.58538474999999 meters Centerline goodness : 0.935896 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.94043545 -0.04081107 -0.33751389 8.83769815] [ 0.05773048 0.99752085 0.04024101 -0.34365485] [ 0.33503487 -0.05732891 0.94046001 0.56248418] [ 0. 0. 0. 1. ]] SLAMing on 108.61538474999999 meters Centerline goodness : 0.936987 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.94038432 -0.04119583 -0.33760958 8.83914284] [ 0.05787304 0.99754306 0.03947841 -0.34185453] [ 0.33515375 -0.05666337 0.94045799 0.56131347] [ 0. 0. 0. 1. ]] SLAMing on 108.64538474999999 meters Centerline goodness : 0.938685 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.94027188 -0.04138796 -0.33789914 8.8399478 ] [ 0.05802739 0.99754162 0.03928779 -0.34177365] [ 0.33544242 -0.0565486 0.94036197 0.56140727] [ 0. 0. 0. 1. ]] SLAMing on 108.67538474999999 meters Centerline goodness : 0.939457 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.93992657 -0.0421128 -0.33876918 8.84173096] [ 0.05885547 0.99749275 0.03929698 -0.34283326] [ 0.3362649 -0.05687469 0.9400485 0.56281705] [ 0. 0. 0. 1. ]] SLAMing on 108.70538475 meters Centerline goodness : 0.936000 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.93963417 -0.04726854 -0.33890016 8.843132 ] [ 0.06278086 0.99741518 0.03495036 -0.34127725] [ 0.33637211 -0.054117 0.94017294 0.56220445] [ 0. 0. 0. 1. ]] SLAMing on 108.73538475 meters Centerline goodness : 0.938875 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.34, Z:0.56 [[ 0.93942221 -0.0479854 -0.33938668 8.84449415] [ 0.06356409 0.99736631 0.03492919 -0.34172279] [ 0.33681675 -0.05438606 0.93999821 0.56302808] [ 0. 0. 0. 1. ]] SLAMing on 108.76538475 meters Centerline goodness : 0.936320 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.56 [[ 0.93911994 -0.04906497 -0.34006818 8.84786944] [ 0.0645489 0.99732275 0.03436239 -0.34055816] [ 0.33747174 -0.05422143 0.93977277 0.56268771] [ 0. 0. 0. 1. ]] SLAMing on 108.79538475 meters Centerline goodness : 0.935095 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.56 [[ 0.93900498 -0.04926478 -0.34035662 8.84926475] [ 0.0647195 0.99731736 0.03419741 -0.33996988] [ 0.33775884 -0.05413925 0.93967436 0.56241175] [ 0. 0. 0. 1. ]] SLAMing on 108.82538475 meters Centerline goodness : 0.941036 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.56 [[ 0.93889934 -0.04946431 -0.340619 8.84901675] [ 0.06526889 0.99725052 0.03509084 -0.34231713] [ 0.33794673 -0.05517859 0.93954634 0.56451575] [ 0. 0. 0. 1. ]] SLAMing on 108.85538474999998 meters Centerline goodness : 0.941740 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.57 [[ 0.93868369 -0.04534219 -0.34178505 8.85081732] [ 0.06259399 0.99725272 0.03961066 -0.34425474] [ 0.33905004 -0.05857557 0.93894301 0.56717398] [ 0. 0. 0. 1. ]] SLAMing on 108.88538474999999 meters Centerline goodness : 0.943181 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.57 [[ 0.93867704 -0.04530722 -0.34180796 8.8507642 ] [ 0.06251781 0.99726195 0.0394984 -0.34401022] [ 0.33908251 -0.05844532 0.9389394 0.56717027] [ 0. 0. 0. 1. ]] SLAMing on 108.91538474999999 meters Centerline goodness : 0.943658 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.57 [[ 0.93849077 -0.04547502 -0.34229678 8.85138019] [ 0.06272907 0.99724862 0.03950008 -0.34438658] [ 0.33955873 -0.05854242 0.93876123 0.56805604] [ 0. 0. 0. 1. ]] SLAMing on 108.94538474999999 meters Centerline goodness : 0.944621 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.34, Z:0.57 [[ 0.93824155 -0.05078977 -0.34223266 8.85248058] [ 0.06684928 0.99713891 0.03528686 -0.34441088] [ 0.33946129 -0.05598561 0.93895242 0.56757476] [ 0. 0. 0. 1. ]] SLAMing on 108.97538474999999 meters Centerline goodness : 0.943310 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.34, Z:0.57 [[ 0.93793123 -0.05191524 -0.34291372 8.85575675] [ 0.06790742 0.99708501 0.03478597 -0.34372303] [ 0.3401082 -0.05591323 0.9387226 0.56745851] [ 0. 0. 0. 1. ]] SLAMing on 109.00538474999999 meters Centerline goodness : 0.942676 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.34, Z:0.57 [[ 0.93764956 -0.05286819 -0.34353787 8.85880586] [ 0.06881612 0.99703648 0.03438891 -0.34328929] [ 0.3407017 -0.05588569 0.938509 0.56734691] [ 0. 0. 0. 1. ]] SLAMing on 109.03538474999999 meters Centerline goodness : 0.939302 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.34, Z:0.57 [[ 0.93733224 -0.05387004 -0.34424744 8.86208679] [ 0.06979232 0.99698129 0.03401963 -0.34406257] [ 0.34137562 -0.05591353 0.93826242 0.56729022] [ 0. 0. 0. 1. ]] SLAMing on 109.06538474999999 meters Centerline goodness : 0.937916 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.34, Z:0.57 [[ 0.93716029 -0.05421852 -0.34466062 8.86373416] [ 0.07013681 0.99696202 0.03387573 -0.34423524] [ 0.34177686 -0.05592038 0.93811593 0.56729526] [ 0. 0. 0. 1. ]] SLAMing on 109.09538475 meters Centerline goodness : 0.944895 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.35, Z:0.57 [[ 0.93671069 -0.05940486 -0.34502773 8.86401995] [ 0.07468681 0.99672019 0.03115665 -0.34782836] [ 0.34204525 -0.05495379 0.93807522 0.57000684] [ 0. 0. 0. 1. ]] SLAMing on 109.12538475 meters Centerline goodness : 0.945157 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93635003 -0.06006664 -0.34589104 8.86572725] [ 0.07566035 0.99662818 0.03174544 -0.34974088] [ 0.34281792 -0.05589508 0.9377375 0.57212635] [ 0. 0. 0. 1. ]] SLAMing on 109.15538475 meters Centerline goodness : 0.943321 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93591447 -0.06139926 -0.3468346 8.86997972] [ 0.07696439 0.9965434 0.03126869 -0.34965314] [ 0.34371586 -0.05595873 0.93740494 0.57217033] [ 0. 0. 0. 1. ]] SLAMing on 109.18538475 meters Centerline goodness : 0.942281 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93574861 -0.06187381 -0.3471976 8.87176943] [ 0.07745367 0.99650884 0.03116198 -0.34901446] [ 0.34405736 -0.05605151 0.93727411 0.57219345] [ 0. 0. 0. 1. ]] SLAMing on 109.21538475 meters Centerline goodness : 0.942299 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93564659 -0.06205896 -0.34743941 8.87314629] [ 0.07767065 0.99649157 0.03117392 -0.34901603] [ 0.34428582 -0.05615361 0.9371841 0.5721124 ] [ 0. 0. 0. 1. ]] SLAMing on 109.24538474999999 meters Centerline goodness : 0.940576 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93535368 -0.06204848 -0.34822907 8.87433878] [ 0.07787311 0.99646181 0.03161702 -0.3498822 ] [ 0.34503519 -0.05669077 0.93687613 0.5735755 ] [ 0. 0. 0. 1. ]] SLAMing on 109.27538474999999 meters Centerline goodness : 0.940576 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.35, Z:0.57 [[ 0.93535368 -0.06204848 -0.34822907 8.87433878] [ 0.07787311 0.99646181 0.03161702 -0.3498822 ] [ 0.34503519 -0.05669077 0.93687613 0.5735755 ] [ 0. 0. 0. 1. ]] SLAMing on 109.30538474999999 meters Centerline goodness : 0.938139 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93495684 -0.05790713 -0.35000354 8.87713673] [ 0.0755117 0.99646376 0.03685054 -0.35165655] [ 0.34663194 -0.06088303 0.93602327 0.5777196 ] [ 0. 0. 0. 1. ]] SLAMing on 109.33538474999999 meters Centerline goodness : 0.940474 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93486491 -0.05796611 -0.35023925 8.87760201] [ 0.07557035 0.99646136 0.03679507 -0.35092948] [ 0.34686701 -0.06086613 0.93593728 0.57799834] [ 0. 0. 0. 1. ]] SLAMing on 109.36538474999999 meters Centerline goodness : 0.940205 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93478297 -0.05796812 -0.35045755 8.87846955] [ 0.07549395 0.99647645 0.03654251 -0.34889231] [ 0.34710439 -0.06061674 0.93586546 0.57764371] [ 0. 0. 0. 1. ]] SLAMing on 109.39538474999999 meters Centerline goodness : 0.940177 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93467985 -0.05805884 -0.35071747 8.87908688] [ 0.0755452 0.99647881 0.03637166 -0.34784393] [ 0.34737083 -0.06049088 0.93577474 0.57773332] [ 0. 0. 0. 1. ]] SLAMing on 109.42538474999999 meters Centerline goodness : 0.942919 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93459805 -0.05726889 -0.35106518 8.87823276] [ 0.07486736 0.9965161 0.03674965 -0.34631152] [ 0.34773749 -0.06062948 0.93562958 0.5787842 ] [ 0. 0. 0. 1. ]] SLAMing on 109.45538475 meters Centerline goodness : 0.944784 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.58 [[ 0.93453237 -0.05702923 -0.35127896 8.87764063] [ 0.07464526 0.99653091 0.03679987 -0.34522303] [ 0.34796167 -0.06061198 0.93554736 0.57950539] [ 0. 0. 0. 1. ]] SLAMing on 109.48538475 meters Centerline goodness : 0.944945 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.34, Z:0.58 [[ 0.93451393 -0.05593252 -0.35150429 8.87622621] [ 0.07352959 0.99661004 0.03690284 -0.34282466] [ 0.34824863 -0.06033219 0.93545867 0.5800186 ] [ 0. 0. 0. 1. ]] SLAMing on 109.51538475 meters Centerline goodness : 0.944379 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.34, Z:0.58 [[ 0.93452161 -0.05585543 -0.35149613 8.87619381] [ 0.07327021 0.9966466 0.03642848 -0.34037392] [ 0.34828269 -0.0597974 0.93548032 0.57946478] [ 0. 0. 0. 1. ]] SLAMing on 109.54538475 meters Centerline goodness : 0.945207 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.34, Z:0.58 [[ 0.93449803 -0.0511088 -0.35228018 8.87712567] [ 0.06954932 0.996781 0.03988138 -0.33804307] [ 0.3491079 -0.06176992 0.93504446 0.57999385] [ 0. 0. 0. 1. ]] SLAMing on 109.57538475 meters Centerline goodness : 0.945002 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.34, Z:0.58 [[ 0.93450142 -0.05100425 -0.35228634 8.87744225] [ 0.06925978 0.99682017 0.03940347 -0.33584175] [ 0.34915639 -0.06122187 0.9350624 0.57926801] [ 0. 0. 0. 1. ]] SLAMing on 109.60538474999998 meters Centerline goodness : 0.944868 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:0.58 [[ 0.93467369 -0.04978831 -0.35200316 8.8759636 ] [ 0.06780384 0.99693494 0.03903021 -0.33271294] [ 0.34898101 -0.06034768 0.9351847 0.57809437] [ 0. 0. 0. 1. ]] SLAMing on 109.63538474999999 meters Centerline goodness : 0.945081 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:0.58 [[ 0.93472174 -0.04924749 -0.35195164 8.87516567] [ 0.06722181 0.99697453 0.0390258 -0.33167356] [ 0.34896489 -0.06013709 0.93520427 0.57801146] [ 0. 0. 0. 1. ]] SLAMing on 109.66538474999999 meters Centerline goodness : 0.948664 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.33, Z:0.58 [[ 0.93445237 -0.04928036 -0.35266161 8.87329347] [ 0.06797759 0.99685132 0.04082278 -0.33381405] [ 0.34953943 -0.06212003 0.93486004 0.58318968] [ 0. 0. 0. 1. ]] SLAMing on 109.69538474999999 meters Centerline goodness : 0.949907 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:0.58 [[ 0.93414417 -0.050139 -0.35335641 8.87515144] [ 0.06880377 0.99680979 0.04045094 -0.33256679] [ 0.35020096 -0.06209927 0.93461381 0.58393516] [ 0. 0. 0. 1. ]] SLAMing on 109.72538474999999 meters Centerline goodness : 0.941537 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:0.58 [[ 0.93367116 -0.04816672 -0.35487763 8.88274323] [ 0.06746561 0.99682864 0.04220251 -0.32865434] [ 0.35171943 -0.06334531 0.93395975 0.58244405] [ 0. 0. 0. 1. ]] SLAMing on 109.75538474999999 meters Centerline goodness : 0.940336 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93354952 -0.04876875 -0.35511535 8.88534697] [ 0.0677746 0.99684668 0.04127104 -0.32619811] [ 0.35198282 -0.06259636 0.93391102 0.58080353] [ 0. 0. 0. 1. ]] SLAMing on 109.78538474999999 meters Centerline goodness : 0.935000 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.32, Z:0.58 [[ 0.93334136 -0.04937808 -0.35557799 8.88768444] [ 0.06815938 0.99685294 0.04047857 -0.32478471] [ 0.35246021 -0.0620163 0.93376966 0.57996925] [ 0. 0. 0. 1. ]] SLAMing on 109.81538474999999 meters Centerline goodness : 0.935265 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.32, Z:0.58 [[ 0.93325838 -0.04945831 -0.35578457 8.88832483] [ 0.06813786 0.99686746 0.04015589 -0.3245159 ] [ 0.35268402 -0.06171822 0.9337049 0.57980759] [ 0. 0. 0. 1. ]] SLAMing on 109.84538475 meters Centerline goodness : 0.936540 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93297337 -0.04903925 -0.35658919 8.88807829] [ 0.06800065 0.99684962 0.04082582 -0.32631984] [ 0.35346373 -0.0623377 0.93336885 0.58205558] [ 0. 0. 0. 1. ]] SLAMing on 109.87538475 meters Centerline goodness : 0.935729 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93281231 -0.04923649 -0.35698313 8.8885867 ] [ 0.06827792 0.99682652 0.040927 -0.32675585] [ 0.35383515 -0.06255128 0.93321381 0.58291907] [ 0. 0. 0. 1. ]] SLAMing on 109.90538475 meters Centerline goodness : 0.936853 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93263474 -0.04969606 -0.35738319 8.89015851] [ 0.0686859 0.99681055 0.04063229 -0.32561973] [ 0.35422407 -0.06244227 0.93307356 0.58289958] [ 0. 0. 0. 1. ]] SLAMing on 109.93538475 meters Centerline goodness : 0.936159 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93246527 -0.05044587 -0.35772018 8.89221622] [ 0.06939283 0.99677426 0.04031997 -0.32506158] [ 0.35453229 -0.06242018 0.93295797 0.58267498] [ 0. 0. 0. 1. ]] SLAMing on 109.96538475 meters Centerline goodness : 0.938457 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.58 [[ 0.93230363 -0.05074875 -0.35809846 8.89326686] [ 0.06977531 0.9967442 0.04040299 -0.32604549] [ 0.35488216 -0.06265429 0.93280925 0.58318457] [ 0. 0. 0. 1. ]] SLAMing on 109.99538474999999 meters Centerline goodness : 0.943132 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.59 [[ 0.93207705 -0.05024628 -0.35875852 8.89325843] [ 0.06978153 0.99669017 0.04170434 -0.32798563] [ 0.3554756 -0.06390637 0.9324983 0.58564396] [ 0. 0. 0. 1. ]] SLAMing on 110.02538474999999 meters Centerline goodness : 0.946423 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.59 [[ 0.93209783 -0.05330776 -0.35826235 8.88988781] [ 0.07208395 0.99662602 0.03924887 -0.32937093] [ 0.35496132 -0.06240875 0.93279559 0.58696046] [ 0. 0. 0. 1. ]] SLAMing on 110.05538474999999 meters Centerline goodness : 0.948633 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.59 [[ 0.93198505 -0.05322889 -0.35856735 8.88957575] [ 0.07222598 0.99659445 0.03978588 -0.33077949] [ 0.35522847 -0.06297773 0.93265564 0.58840402] [ 0. 0. 0. 1. ]] SLAMing on 110.08538474999999 meters Centerline goodness : 0.947073 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.59 [[ 0.93181505 -0.05330881 -0.35899705 8.89129818] [ 0.07231 0.99659175 0.03970069 -0.33052408] [ 0.3556571 -0.06295278 0.93249395 0.58819856] [ 0. 0. 0. 1. ]] SLAMing on 110.11538474999999 meters Centerline goodness : 0.946561 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:0.59 [[ 0.93157109 -0.05409398 -0.35951237 8.89422291] [ 0.07296127 0.99656767 0.03910934 -0.32960253] [ 0.35616283 -0.06266361 0.93232039 0.58755285] [ 0. 0. 0. 1. ]] SLAMing on 110.14538474999999 meters Centerline goodness : 0.943358 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.33, Z:0.59 [[ 0.93134412 -0.05483103 -0.35998845 8.89684641] [ 0.07362999 0.99653421 0.03870641 -0.33105678] [ 0.35661849 -0.06255493 0.93215349 0.58719328] [ 0. 0. 0. 1. ]] SLAMing on 110.17538474999999 meters Centerline goodness : 0.945426 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.33, Z:0.59 [[ 0.93117939 -0.05520382 -0.36035744 8.89811702] [ 0.07403958 0.99650547 0.03866502 -0.33227249] [ 0.3569637 -0.06268478 0.93201263 0.58753101] [ 0. 0. 0. 1. ]] SLAMing on 110.20538475 meters Centerline goodness : 0.943787 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.33, Z:0.59 [[ 0.93072934 -0.05607571 -0.36138403 8.90140082] [ 0.07501439 0.99643586 0.03858011 -0.33407506] [ 0.3579326 -0.06301664 0.93161857 0.58839631] [ 0. 0. 0. 1. ]] SLAMing on 110.23538475 meters Centerline goodness : 0.942884 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.34, Z:0.59 [[ 0.93060232 -0.05642539 -0.3616566 8.90270506] [ 0.07539403 0.99640866 0.03854242 -0.33509211] [ 0.35818299 -0.06313442 0.93151435 0.58847429] [ 0. 0. 0. 1. ]] SLAMing on 110.26538475 meters Centerline goodness : 0.941116 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.34, Z:0.59 [[ 0.93035586 -0.05698998 -0.36220175 8.9045446 ] [ 0.07603952 0.99635948 0.03854566 -0.33598898] [ 0.35868644 -0.06340283 0.93130238 0.58904398] [ 0. 0. 0. 1. ]] SLAMing on 110.29538475 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.34, Z:0.59 [[ 0.93021641 -0.05736607 -0.36250044 8.90606282] [ 0.07650454 0.99631982 0.03865052 -0.33713622] [ 0.35894915 -0.06368628 0.93118181 0.58925062] [ 0. 0. 0. 1. ]] SLAMing on 110.32538475 meters Centerline goodness : 0.943443 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.34, Z:0.59 [[ 0.93008908 -0.0576661 -0.36277944 8.90730175] [ 0.0767564 0.99630947 0.03841731 -0.33662162] [ 0.35922522 -0.06357716 0.9310828 0.58907367] [ 0. 0. 0. 1. ]] SLAMing on 110.35538474999998 meters Centerline goodness : 0.941733 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.34, Z:0.59 [[ 0.92979032 -0.05800746 -0.36349016 8.90888889] [ 0.07712856 0.99628528 0.03829927 -0.33618182] [ 0.35991825 -0.06364576 0.93081044 0.5897709 ] [ 0. 0. 0. 1. ]] SLAMing on 110.38538474999999 meters Centerline goodness : 0.942171 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.34, Z:0.59 [[ 0.92967561 -0.05809701 -0.36376916 8.90947664] [ 0.07723238 0.99627848 0.03826672 -0.33607966] [ 0.3601922 -0.06367039 0.93070278 0.59009168] [ 0. 0. 0. 1. ]] SLAMing on 110.41538474999999 meters Centerline goodness : 0.942711 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.33, Z:0.59 [[ 0.9295731 -0.0583916 -0.36398389 8.90952953] [ 0.07750992 0.99626227 0.03812747 -0.33461417] [ 0.3603971 -0.06365463 0.93062453 0.59075463] [ 0. 0. 0. 1. ]] SLAMing on 110.44538474999999 meters Centerline goodness : 0.949656 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.33, Z:0.59 [[ 0.9318018 -0.06246486 -0.35755217 8.91973052] [ 0.07764086 0.99658157 0.02823243 -0.3304568 ] [ 0.35456637 -0.05406769 0.93346632 0.59235188] [ 0. 0. 0. 1. ]] SLAMing on 110.47538474999999 meters Centerline goodness : 0.946068 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.33, Z:0.59 [[ 0.93146113 -0.05955507 -0.35893363 8.92263094] [ 0.07566024 0.99665236 0.03097753 -0.32682962] [ 0.35588718 -0.05601137 0.93284888 0.59375158] [ 0. 0. 0. 1. ]] SLAMing on 110.50538474999999 meters Centerline goodness : 0.940730 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.32, Z:0.59 [[ 0.93116935 -0.05654432 -0.36017548 8.9280465 ] [ 0.07341109 0.99674529 0.03331119 -0.32326249] [ 0.35711965 -0.05745923 0.93228965 0.59269066] [ 0. 0. 0. 1. ]] SLAMing on 110.53538474999999 meters Centerline goodness : 0.931194 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.32, Z:0.59 [[ 0.93076038 -0.05386993 -0.36163953 8.93480523] [ 0.0713455 0.99683265 0.03513516 -0.31708771] [ 0.35860137 -0.05850377 0.93165571 0.59093972] [ 0. 0. 0. 1. ]] SLAMing on 110.56538474999999 meters Centerline goodness : 0.929934 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.59 [[ 0.93069062 -0.05344552 -0.36188196 8.93415011] [ 0.07086122 0.9968714 0.03501574 -0.31480524] [ 0.35887834 -0.05823222 0.93156607 0.59134818] [ 0. 0. 0. 1. ]] SLAMing on 110.59538475 meters Centerline goodness : 0.932715 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.59 [[ 0.93054039 -0.05336438 -0.36228004 8.93386496] [ 0.07086054 0.99686601 0.0351702 -0.31430498] [ 0.35926782 -0.05839865 0.93140551 0.59252613] [ 0. 0. 0. 1. ]] SLAMing on 110.62538475 meters Centerline goodness : 0.933648 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.59 [[ 0.93049064 -0.05232958 -0.36255867 8.93148829] [ 0.07003842 0.99689939 0.0358639 -0.31369346] [ 0.35955777 -0.05876406 0.93127063 0.59448004] [ 0. 0. 0. 1. ]] SLAMing on 110.65538475 meters Centerline goodness : 0.939066 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93056774 -0.05160551 -0.36246455 8.92994552] [ 0.0694171 0.99692778 0.03628035 -0.31307536] [ 0.35947871 -0.05892256 0.93129114 0.59511212] [ 0. 0. 0. 1. ]] SLAMing on 110.68538475 meters Centerline goodness : 0.942394 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93078736 -0.0499558 -0.36213163 8.9270977 ] [ 0.06790594 0.99700531 0.03700255 -0.31182699] [ 0.35919866 -0.05903239 0.93139224 0.59547036] [ 0. 0. 0. 1. ]] SLAMing on 110.71538475 meters Centerline goodness : 0.942890 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93080113 -0.04936166 -0.36217768 8.92673576] [ 0.0673167 0.99704103 0.03711676 -0.31062156] [ 0.35927386 -0.05892893 0.93136978 0.59537652] [ 0. 0. 0. 1. ]] SLAMing on 110.74538474999999 meters Centerline goodness : 0.941086 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93065289 -0.04939351 -0.36255411 8.92752309] [ 0.06737173 0.99703775 0.03710479 -0.31104791] [ 0.3596474 -0.05895758 0.93122379 0.59574605] [ 0. 0. 0. 1. ]] SLAMing on 110.77538474999999 meters Centerline goodness : 0.942543 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93054525 -0.04945953 -0.3628213 8.9281688 ] [ 0.06747971 0.99702861 0.03715427 -0.31170625] [ 0.35990558 -0.0590568 0.93111775 0.59602421] [ 0. 0. 0. 1. ]] SLAMing on 110.80538474999999 meters Centerline goodness : 0.941269 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.93018044 -0.05042477 -0.36362302 8.93094644] [ 0.06862074 0.99694572 0.03728836 -0.3134105 ] [ 0.36063215 -0.05963698 0.93079959 0.59705549] [ 0. 0. 0. 1. ]] SLAMing on 110.83538474999999 meters Centerline goodness : 0.942736 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.31, Z:0.60 [[ 0.92996514 -0.05100726 -0.36409215 8.93277705] [ 0.06924723 0.99690531 0.03721063 -0.31406108] [ 0.36106739 -0.05981696 0.9306193 0.59738553] [ 0. 0. 0. 1. ]] SLAMing on 110.86538474999999 meters Centerline goodness : 0.942186 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.32, Z:0.60 [[ 0.929847 -0.05127313 -0.36435644 8.9339502 ] [ 0.06960135 0.99687575 0.03734164 -0.31508331] [ 0.36130348 -0.06008172 0.9305106 0.59762346] [ 0. 0. 0. 1. ]] SLAMing on 110.89538474999999 meters Centerline goodness : 0.947271 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.32, Z:0.60 [[ 0.92930734 -0.05731943 -0.36483195 8.93496862] [ 0.07501088 0.99658595 0.03449377 -0.31767786] [ 0.36160924 -0.05942168 0.93043421 0.6007547 ] [ 0. 0. 0. 1. ]] SLAMing on 110.92538474999999 meters Centerline goodness : 0.944889 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92886671 -0.05978171 -0.36555819 8.93986515] [ 0.07722623 0.99645827 0.03327211 -0.31696818] [ 0.36227442 -0.05913603 0.93019362 0.60024632] [ 0. 0. 0. 1. ]] SLAMing on 110.95538475 meters Centerline goodness : 0.940054 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92871548 -0.05910043 -0.36605287 8.94460904] [ 0.0771563 0.99640868 0.03488039 -0.31662307] [ 0.36267681 -0.06063724 0.92994014 0.59994941] [ 0. 0. 0. 1. ]] SLAMing on 110.98538475 meters Centerline goodness : 0.938712 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.60 [[ 0.92851909 -0.0595324 -0.36648083 8.94683746] [ 0.07743722 0.9964058 0.03433605 -0.31587364] [ 0.36311952 -0.06026093 0.92979182 0.59920188] [ 0. 0. 0. 1. ]] SLAMing on 111.01538475 meters Centerline goodness : 0.938254 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.60 [[ 0.92849034 -0.05891679 -0.36665311 8.94649787] [ 0.07698521 0.99642335 0.03483935 -0.31577893] [ 0.3632891 -0.06057487 0.92970518 0.59977303] [ 0. 0. 0. 1. ]] SLAMing on 111.04538475 meters Centerline goodness : 0.937646 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.60 [[ 0.92862712 -0.05794179 -0.36646202 8.94506513] [ 0.07606946 0.99648074 0.03520769 -0.31562537] [ 0.36313235 -0.06057139 0.92976664 0.59980905] [ 0. 0. 0. 1. ]] SLAMing on 111.07538475 meters Centerline goodness : 0.937982 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.60 [[ 0.92845347 -0.05784406 -0.36691719 8.94547134] [ 0.07613059 0.99646388 0.0355508 -0.31628712] [ 0.36356332 -0.06094088 0.92957405 0.60086645] [ 0. 0. 0. 1. ]] SLAMing on 111.10538474999998 meters Centerline goodness : 0.936983 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92846849 -0.05710362 -0.36699515 8.94425594] [ 0.07550758 0.99649604 0.03597561 -0.31747154] [ 0.36365488 -0.06111313 0.92952693 0.60157619] [ 0. 0. 0. 1. ]] SLAMing on 111.13538474999999 meters Centerline goodness : 0.937611 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92839932 -0.05690665 -0.36720068 8.94445857] [ 0.07540048 0.99649584 0.03620504 -0.31747056] [ 0.36385364 -0.06129984 0.92943685 0.60198924] [ 0. 0. 0. 1. ]] SLAMing on 111.16538474999999 meters Centerline goodness : 0.937611 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92839932 -0.05690665 -0.36720068 8.94445857] [ 0.07540048 0.99649584 0.03620504 -0.31747056] [ 0.36385364 -0.06129984 0.92943685 0.60198924] [ 0. 0. 0. 1. ]] SLAMing on 111.19538474999999 meters Centerline goodness : 0.938264 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92841655 -0.05657854 -0.36720782 8.94403231] [ 0.0751377 0.99650741 0.0364321 -0.31738618] [ 0.36386404 -0.06141532 0.92942515 0.60221832] [ 0. 0. 0. 1. ]] SLAMing on 111.22538474999999 meters Centerline goodness : 0.944731 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.60 [[ 0.92833493 -0.06080828 -0.36673778 8.94148916] [ 0.07868139 0.99632087 0.03397013 -0.31967255] [ 0.36332284 -0.0603911 0.92970395 0.60416604] [ 0. 0. 0. 1. ]] SLAMing on 111.25538474999999 meters Centerline goodness : 0.945250 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92817339 -0.06092034 -0.36712788 8.94222568] [ 0.07905431 0.99627153 0.0345463 -0.32077997] [ 0.36365448 -0.061088 0.92952874 0.60533493] [ 0. 0. 0. 1. ]] SLAMing on 111.28538474999999 meters Centerline goodness : 0.942065 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92800042 -0.06120129 -0.36751819 8.9439689 ] [ 0.0793619 0.99624899 0.03449124 -0.32087629] [ 0.36402871 -0.06117483 0.92937653 0.60523208] [ 0. 0. 0. 1. ]] SLAMing on 111.31538474999999 meters Centerline goodness : 0.943707 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92803461 -0.06062255 -0.36752779 8.94373131] [ 0.07886517 0.99627743 0.03480752 -0.32111017] [ 0.36404952 -0.06128773 0.92936094 0.60522956] [ 0. 0. 0. 1. ]] SLAMing on 111.34538475 meters Centerline goodness : 0.944845 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92806547 -0.06009489 -0.3675365 8.94286511] [ 0.07854874 0.99627998 0.03544419 -0.32189496] [ 0.36403925 -0.06176406 0.92933343 0.60608333] [ 0. 0. 0. 1. ]] SLAMing on 111.37538475 meters Centerline goodness : 0.948545 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92808789 -0.05887553 -0.36767722 8.94087036] [ 0.07785665 0.99627801 0.0369928 -0.3242068 ] [ 0.36413076 -0.06295869 0.92921741 0.6082914 ] [ 0. 0. 0. 1. ]] SLAMing on 111.40538475 meters Centerline goodness : 0.948476 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.32, Z:0.61 [[ 0.92802943 -0.05893109 -0.36781586 8.94115307] [ 0.07799771 0.9962602 0.03717477 -0.32468947] [ 0.36424956 -0.06318808 0.92915528 0.60873659] [ 0. 0. 0. 1. ]] SLAMing on 111.43538475 meters Centerline goodness : 0.950291 Centerline is valid? [False, True] Translation: X:8.94, Y:-0.33, Z:0.61 [[ 0.92754544 -0.06038742 -0.36879916 8.94394309] [ 0.07968579 0.99612164 0.0373075 -0.32559219] [ 0.36511592 -0.06399245 0.9287601 0.61074927] [ 0. 0. 0. 1. ]] SLAMing on 111.46538475 meters Centerline goodness : 0.947091 Centerline is valid? [True, False] Translation: X:8.95, Y:-0.32, Z:0.61 [[ 0.9273206 -0.06144869 -0.36918907 8.94726356] [ 0.08042342 0.99610279 0.03621204 -0.32368299] [ 0.36552508 -0.06327162 0.92864855 0.60928378] [ 0. 0. 0. 1. ]] SLAMing on 111.49538474999999 meters Centerline goodness : 0.938401 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.61 [[ 0.92675971 -0.05951631 -0.37091002 8.95485724] [ 0.07929674 0.99611522 0.03829479 -0.3221336 ] [ 0.36718995 -0.06490203 0.92787891 0.60879355] [ 0. 0. 0. 1. ]] SLAMing on 111.52538474999999 meters Centerline goodness : 0.937713 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92654358 -0.06014873 -0.3713477 8.95675115] [ 0.07970274 0.99611228 0.03752055 -0.32140407] [ 0.36764719 -0.06436186 0.92773546 0.60830432] [ 0. 0. 0. 1. ]] SLAMing on 111.55538474999999 meters Centerline goodness : 0.936341 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92650887 -0.05990926 -0.371473 8.95646673] [ 0.07952055 0.99612057 0.03768685 -0.32148334] [ 0.3677741 -0.06445693 0.92767856 0.60873765] [ 0. 0. 0. 1. ]] SLAMing on 111.58538474999999 meters Centerline goodness : 0.937637 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92657092 -0.05956594 -0.37137343 8.95551475] [ 0.07919346 0.9961419 0.03781162 -0.32139004] [ 0.36768835 -0.06444549 0.92771335 0.60901079] [ 0. 0. 0. 1. ]] SLAMing on 111.61538474999999 meters Centerline goodness : 0.940189 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.32, Z:0.61 [[ 0.92655475 -0.05924286 -0.37146544 8.95487891] [ 0.07888402 0.99616347 0.03788989 -0.32044369] [ 0.3677956 -0.06440974 0.92767332 0.60946315] [ 0. 0. 0. 1. ]] SLAMing on 111.64538474999999 meters Centerline goodness : 0.940714 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.9263261 -0.05988848 -0.37193188 8.95541454] [ 0.07970887 0.99608861 0.03813111 -0.32031246] [ 0.3681935 -0.06496811 0.92747652 0.61108402] [ 0. 0. 0. 1. ]] SLAMing on 111.67538474999999 meters Centerline goodness : 0.942403 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92626412 -0.0601479 -0.37204436 8.95560277] [ 0.07998157 0.99606817 0.03809398 -0.32015522] [ 0.36829027 -0.06504178 0.92743293 0.61151185] [ 0. 0. 0. 1. ]] SLAMing on 111.70538475 meters Centerline goodness : 0.945777 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92597693 -0.06085825 -0.37264327 8.95680169] [ 0.08079467 0.99600218 0.03810359 -0.31913607] [ 0.36883459 -0.06539063 0.92719206 0.61277579] [ 0. 0. 0. 1. ]] SLAMing on 111.73538475 meters Centerline goodness : 0.945101 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92582933 -0.06134127 -0.37293069 8.95758847] [ 0.08130499 0.99596363 0.03802549 -0.31930819] [ 0.36909288 -0.06552624 0.92707969 0.61327118] [ 0. 0. 0. 1. ]] SLAMing on 111.76538475 meters Centerline goodness : 0.948765 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.61 [[ 0.92558087 -0.06234469 -0.37338075 8.95912838] [ 0.0825623 0.99584639 0.03838536 -0.32112791] [ 0.36943675 -0.06635593 0.92688369 0.614805 ] [ 0. 0. 0. 1. ]] SLAMing on 111.79538475 meters Centerline goodness : 0.948919 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.62 [[ 0.92530778 -0.06259799 -0.3740147 8.96006022] [ 0.08310274 0.99578015 0.0389337 -0.32234798] [ 0.36999925 -0.0671073 0.92660518 0.6164844 ] [ 0. 0. 0. 1. ]] SLAMing on 111.82538475 meters Centerline goodness : 0.949921 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.62 [[ 0.92505294 -0.0673485 -0.37381978 8.95988092] [ 0.08684633 0.99558752 0.03554153 -0.3231581 ] [ 0.36977664 -0.06534268 0.92682014 0.61695972] [ 0. 0. 0. 1. ]] SLAMing on 111.85538474999998 meters Centerline goodness : 0.949778 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.32, Z:0.62 [[ 0.92482828 -0.06792137 -0.37427175 8.96148986] [ 0.08750014 0.99553002 0.03554862 -0.32402862] [ 0.37018425 -0.0656252 0.92663744 0.61753643] [ 0. 0. 0. 1. ]] SLAMing on 111.88538474999999 meters Centerline goodness : 0.951593 Centerline is valid? [False, True] Translation: X:8.96, Y:-0.32, Z:0.62 [[ 0.92446073 -0.06928128 -0.37492994 8.9647321 ] [ 0.08883057 0.99542851 0.03508872 -0.32461411] [ 0.37078496 -0.06574338 0.92638886 0.61785434] [ 0. 0. 0. 1. ]] SLAMing on 111.91538474999999 meters Centerline goodness : 0.948585 Centerline is valid? [True, False] Translation: X:8.97, Y:-0.33, Z:0.62 [[ 0.92426975 -0.06956398 -0.37534822 8.96584287] [ 0.08927718 0.99537882 0.03536366 -0.32611417] [ 0.37115363 -0.06619559 0.92620901 0.61871545] [ 0. 0. 0. 1. ]] SLAMing on 111.94538474999999 meters Centerline goodness : 0.951415 Centerline is valid? [False, True] Translation: X:8.97, Y:-0.33, Z:0.62 [[ 0.92393861 -0.07014254 -0.37605514 8.96682108] [ 0.09026731 0.99526157 0.03614171 -0.32809133] [ 0.37173816 -0.06733821 0.92589217 0.62124896] [ 0. 0. 0. 1. ]] SLAMing on 111.97538474999999 meters Centerline goodness : 0.951267 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.30, Z:0.59 [[ 9.23546789e-01 -9.90304776e-02 -3.70478466e-01 9.00821716e+00] [ 9.29590855e-02 9.95080456e-01 -3.42563172e-02 -2.98141015e-01] [ 3.72048300e-01 -2.80202765e-03 9.28209142e-01 5.87858511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00538474999999 meters Centerline goodness : 0.952565 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.30, Z:0.60 [[ 9.23564743e-01 -9.88797142e-02 -3.70473976e-01 9.03407568e+00] [ 9.27771933e-02 9.95095760e-01 -3.43048110e-02 -2.95439137e-01] [ 3.72049133e-01 -2.68882172e-03 9.28209143e-01 5.98601352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03538474999999 meters Centerline goodness : 0.953939 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.29, Z:0.61 [[ 9.23583304e-01 -9.87430483e-02 -3.70464157e-01 9.05975796e+00] [ 9.25875306e-02 9.95109774e-01 -3.44105494e-02 -2.92615481e-01] [ 3.72050306e-01 -2.51935249e-03 9.28209148e-01 6.08805420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06538474999999 meters Centerline goodness : 0.954721 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.29, Z:0.62 [[ 9.23762189e-01 -9.70668562e-02 -3.70461123e-01 9.08564987e+00] [ 9.07684619e-02 9.95276220e-01 -3.44431840e-02 -2.90233093e-01] [ 3.72054437e-01 -1.80887524e-03 9.28209149e-01 6.21316790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09538475 meters Centerline goodness : 0.955260 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.29, Z:0.63 [[ 9.23744114e-01 -9.72730721e-02 -3.70452103e-01 9.11159412e+00] [ 9.09518408e-02 9.95256125e-01 -3.45399395e-02 -2.88364916e-01] [ 3.72054531e-01 -1.78723488e-03 9.28209153e-01 6.31966372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12538475 meters Centerline goodness : 0.954340 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.29, Z:0.64 [[ 9.23789002e-01 -9.68857010e-02 -3.70441683e-01 9.13763811e+00] [ 9.04898021e-02 9.95294368e-01 -3.46513613e-02 -2.86736560e-01] [ 3.72055742e-01 -1.51064811e-03 9.28209159e-01 6.42059185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15538475 meters Centerline goodness : 0.954914 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.29, Z:0.65 [[ 9.23621018e-01 -9.84864405e-02 -3.70438439e-01 9.16434209e+00] [ 9.22005683e-02 9.95136139e-01 -3.46860155e-02 -2.86060524e-01] [ 3.72052780e-01 -2.11790164e-03 9.28209159e-01 6.52724340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18538475 meters Centerline goodness : 0.954554 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.28, Z:0.67 [[ 9.23304687e-01 -1.01442164e-01 -3.70429402e-01 9.19089856e+00] [ 9.53466039e-02 9.94836277e-01 -3.47822767e-02 -2.84235785e-01] [ 3.72044996e-01 -3.20454628e-03 9.28209164e-01 6.65494892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21538475 meters Centerline goodness : 0.949971 Centerline is valid? [True, False] Translation: X:9.19, Y:-0.29, Z:0.67 [[ 0.92119524 -0.09634255 -0.37698467 9.18900351] [ 0.09734401 0.99511494 -0.01644382 -0.28656275] [ 0.37672732 -0.02154923 0.92607352 0.67305225] [ 0. 0. 0. 1. ]] SLAMing on 112.24538474999999 meters Centerline goodness : 0.948155 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.29, Z:0.67 [[ 0.92081677 -0.09328645 -0.37867415 9.19448366] [ 0.09543815 0.99534878 -0.0131287 -0.2850868 ] [ 0.37813758 -0.02405084 0.92543694 0.67397074] [ 0. 0. 0. 1. ]] SLAMing on 112.27538474999999 meters Centerline goodness : 0.949284 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.29, Z:0.68 [[ 9.20604640e-01 -8.85100358e-02 -3.80332841e-01 9.19597483e+00] [ 9.24475733e-02 9.95685881e-01 -7.94180164e-03 -2.86736395e-01] [ 3.79394969e-01 -2.78495888e-02 9.24815580e-01 6.77549753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30538474999999 meters Centerline goodness : 0.949425 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.29, Z:0.69 [[ 9.20328020e-01 -8.27872831e-02 -3.82286021e-01 9.19525174e+00] [ 8.96716209e-02 9.95971367e-01 1.92373626e-04 -2.89481994e-01] [ 3.80730005e-01 -3.44572540e-02 9.24044026e-01 6.86469972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33538474999999 meters Centerline goodness : 0.950458 Centerline is valid? [False, True] Translation: X:9.20, Y:-0.29, Z:0.69 [[ 9.20061886e-01 -7.73030194e-02 -3.84070786e-01 9.19509296e+00] [ 8.67477203e-02 9.96203565e-01 7.30002856e-03 -2.92358381e-01] [ 3.82048372e-01 -4.00337432e-02 9.23274792e-01 6.93432103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36538474999999 meters Centerline goodness : 0.952815 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.27, Z:0.68 [[ 9.19877978e-01 -9.27412726e-02 -3.81082093e-01 9.22840370e+00] [ 8.71589307e-02 9.95682800e-01 -3.19230666e-02 -2.73653133e-01] [ 3.82397471e-01 -3.84938174e-03 9.23989911e-01 6.83512167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39538474999999 meters Centerline goodness : 0.954705 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.27, Z:0.70 [[ 9.19736107e-01 -9.41498636e-02 -3.81079120e-01 9.25433374e+00] [ 8.86689291e-02 9.95548328e-01 -3.19585173e-02 -2.69984597e-01] [ 3.82391571e-01 -4.39647522e-03 9.23989912e-01 6.95729799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42538474999999 meters Centerline goodness : 0.955784 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.26, Z:0.71 [[ 9.19350261e-01 -9.78780794e-02 -3.81070832e-01 9.27934001e+00] [ 9.26637245e-02 9.95181279e-01 -3.20570665e-02 -2.64462562e-01] [ 3.82372242e-01 -5.83977011e-03 9.23989916e-01 7.06994325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45538475 meters Centerline goodness : 0.955548 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.26, Z:0.72 [[ 9.19049851e-01 -1.00676400e-01 -3.81066444e-01 9.30477188e+00] [ 9.56713318e-02 9.94894969e-01 -3.21091516e-02 -2.60976159e-01] [ 3.82353721e-01 -6.94722318e-03 9.23989918e-01 7.17826413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48538475 meters Centerline goodness : 0.954190 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.26, Z:0.73 [[ 9.18677620e-01 -1.04034144e-01 -3.81062104e-01 9.33092794e+00] [ 9.92849450e-02 9.94539188e-01 -3.21605745e-02 -2.57166462e-01] [ 3.82326994e-01 -8.28852997e-03 9.23989919e-01 7.28132504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51538475 meters Centerline goodness : 0.954253 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.25, Z:0.74 [[ 0.9178808 -0.1108763 -0.38105287 9.35761656] [ 0.10664721 0.99377313 -0.03226969 -0.25297799] [ 0.38225804 -0.01101849 0.92398992 0.73656247] [ 0. 0. 0. 1. ]] SLAMing on 112.54538475 meters Centerline goodness : 0.953430 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.25, Z:0.75 [[ 0.91680948 -0.1194206 -0.38105 9.38386938] [ 0.11588451 0.99273726 -0.03230355 -0.24859017] [ 0.38214024 -0.01454159 0.92398993 0.74537808] [ 0. 0. 0. 1. ]] SLAMing on 112.57538475 meters Centerline goodness : 0.951216 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.24, Z:0.76 [[ 0.91626925 -0.1235059 -0.38104717 9.41005317] [ 0.12029445 0.99221146 -0.03233683 -0.24498735] [ 0.38207316 -0.01620862 0.92398993 0.75626103] [ 0. 0. 0. 1. ]] SLAMing on 112.60538474999998 meters Centerline goodness : 0.951817 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.24, Z:0.77 [[ 0.9152766 -0.13068209 -0.38103928 9.43534267] [ 0.12802733 0.9912403 -0.03242957 -0.23924125] [ 0.38193945 -0.01910141 0.92398993 0.76721168] [ 0. 0. 0. 1. ]] SLAMing on 112.63538474999999 meters Centerline goodness : 0.952008 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.24, Z:0.78 [[ 0.91495164 -0.13294618 -0.38103649 9.46088298] [ 0.13046574 0.99092123 -0.03246237 -0.23516375] [ 0.38189289 -0.0200107 0.92398993 0.77892995] [ 0. 0. 0. 1. ]] SLAMing on 112.66538474999999 meters Centerline goodness : 0.949593 Centerline is valid? [True, False] Translation: X:9.45, Y:-0.23, Z:0.79 [[ 0.91773557 -0.12581942 -0.37673718 9.44501842] [ 0.12818857 0.99156995 -0.01888729 -0.23288987] [ 0.37593765 -0.03095986 0.92612762 0.78677825] [ 0. 0. 0. 1. ]] SLAMing on 112.69538474999999 meters Centerline goodness : 0.947439 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.23, Z:0.79 [[ 0.92057938 -0.1191768 -0.37192807 9.43404042] [ 0.1242592 0.99219562 -0.01036824 -0.23265798] [ 0.37026105 -0.0366707 0.92820365 0.78873453] [ 0. 0. 0. 1. ]] SLAMing on 112.72538474999999 meters Centerline goodness : 0.949264 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:0.80 [[ 9.24784911e-01 -1.07836052e-01 -3.64889374e-01 9.42009127e+00] [ 1.17227246e-01 9.93098546e-01 3.61249584e-03 -2.32944276e-01] [ 3.61981549e-01 -4.61157581e-02 9.31043874e-01 7.95216140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75538474999999 meters Centerline goodness : 0.946349 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:0.80 [[ 0.92982685 -0.09140825 -0.35646397 9.41793623] [ 0.10321843 0.99455724 0.0142077 -0.23029649] [ 0.35322512 -0.05000435 0.93420104 0.79980526] [ 0. 0. 0. 1. ]] SLAMing on 112.78538474999999 meters Centerline goodness : 0.942993 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:0.80 [[ 0.93013167 -0.08058102 -0.35827612 9.41580638] [ 0.09473088 0.99525787 0.02208714 -0.22547645] [ 0.35479732 -0.05448376 0.93335437 0.80295144] [ 0. 0. 0. 1. ]] SLAMing on 112.81538474999999 meters Centerline goodness : 0.942491 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.22, Z:0.80 [[ 0.93020618 -0.07508902 -0.35927441 9.41496362] [ 0.0904963 0.9955512 0.02623412 -0.22247957] [ 0.35570618 -0.05691615 0.93286316 0.80482238] [ 0. 0. 0. 1. ]] SLAMing on 112.84538475 meters Centerline goodness : 0.939587 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.22, Z:0.81 [[ 0.93031724 -0.06476349 -0.36099241 9.41491001] [ 0.08237482 0.99603498 0.03359632 -0.21631383] [ 0.35738525 -0.06099192 0.93196339 0.80673885] [ 0. 0. 0. 1. ]] SLAMing on 112.87538475 meters Centerline goodness : 0.936300 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.21, Z:0.81 [[ 0.93028295 -0.06003549 -0.36189692 9.41567332] [ 0.07873369 0.996204 0.03712941 -0.21335505] [ 0.35829407 -0.06303434 0.93147841 0.80769132] [ 0. 0. 0. 1. ]] SLAMing on 112.90538475 meters Centerline goodness : 0.933791 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.21, Z:0.81 [[ 0.93031034 -0.05489921 -0.36264135 9.41507356] [ 0.07476678 0.99635911 0.04096882 -0.21153917] [ 0.35907185 -0.06522725 0.93102782 0.80907329] [ 0. 0. 0. 1. ]] SLAMing on 112.93538475 meters Centerline goodness : 0.932254 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.21, Z:0.81 [[ 0.93033235 -0.04914306 -0.36340979 9.41375809] [ 0.07008094 0.99654164 0.04464784 -0.20821047] [ 0.35995885 -0.06700543 0.93055892 0.81035178] [ 0. 0. 0. 1. ]] SLAMing on 112.96538475 meters Centerline goodness : 0.928894 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.21, Z:0.81 [[ 0.93021652 -0.0441093 -0.36435093 9.41411219] [ 0.06610244 0.99665247 0.04810731 -0.20533836] [ 0.36100928 -0.0688347 0.93001832 0.81141387] [ 0. 0. 0. 1. ]] SLAMing on 112.99538474999999 meters Centerline goodness : 0.927615 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93012055 -0.04336592 -0.36468502 9.41420711] [ 0.06534124 0.99670157 0.04813016 -0.20305342] [ 0.36139492 -0.06859582 0.92988619 0.81143964] [ 0. 0. 0. 1. ]] SLAMing on 113.02538474999999 meters Centerline goodness : 0.924399 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93013831 -0.03761804 -0.36527744 9.41394656] [ 0.06061685 0.99682148 0.05169654 -0.20051818] [ 0.36217168 -0.0702269 0.92946213 0.81161938] [ 0. 0. 0. 1. ]] SLAMing on 113.05538474999999 meters Centerline goodness : 0.920252 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93022433 -0.03642686 -0.3651791 9.41286563] [ 0.05935416 0.99689456 0.05175253 -0.19860306] [ 0.36215988 -0.06981636 0.92949766 0.81118625] [ 0. 0. 0. 1. ]] SLAMing on 113.08538474999999 meters Centerline goodness : 0.920252 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93022433 -0.03642686 -0.3651791 9.41286563] [ 0.05935416 0.99689456 0.05175253 -0.19860306] [ 0.36215988 -0.06981636 0.92949766 0.81118625] [ 0. 0. 0. 1. ]] SLAMing on 113.11538474999999 meters Centerline goodness : 0.912553 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93039494 -0.03499045 -0.3648848 9.41104194] [ 0.05796157 0.9969537 0.05218988 -0.1975348 ] [ 0.36194711 -0.06970649 0.92958878 0.81102899] [ 0. 0. 0. 1. ]] SLAMing on 113.14538474999999 meters Centerline goodness : 0.911634 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.9304597 -0.03274243 -0.36492831 9.40863452] [ 0.05593723 0.99701764 0.05316812 -0.19805643] [ 0.36209911 -0.06988388 0.92951626 0.81176603] [ 0. 0. 0. 1. ]] SLAMing on 113.17538474999999 meters Centerline goodness : 0.914886 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93041978 -0.03215584 -0.36508223 9.40873346] [ 0.05542173 0.99703262 0.05342647 -0.19855772] [ 0.36228091 -0.06994254 0.929441 0.81189393] [ 0. 0. 0. 1. ]] SLAMing on 113.20538475 meters Centerline goodness : 0.915048 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93062007 -0.02992639 -0.36476116 9.40659303] [ 0.05354469 0.99706028 0.05480667 -0.20117955] [ 0.3620487 -0.07053521 0.9294867 0.81219059] [ 0. 0. 0. 1. ]] SLAMing on 113.23538475 meters Centerline goodness : 0.915291 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.20, Z:0.81 [[ 0.93068166 -0.02903784 -0.36467583 9.40605182] [ 0.05281194 0.99706727 0.05538733 -0.20279077] [ 0.361998 -0.07080721 0.92948576 0.81230458] [ 0. 0. 0. 1. ]] SLAMing on 113.26538475 meters Centerline goodness : 0.916722 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.21, Z:0.81 [[ 0.93063248 -0.02755034 -0.36491666 9.40536663] [ 0.05182595 0.99703406 0.05689595 -0.20765727] [ 0.36226684 -0.07186137 0.9293001 0.81360423] [ 0. 0. 0. 1. ]] SLAMing on 113.29538475 meters Centerline goodness : 0.918280 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.21, Z:0.81 [[ 0.93075284 -0.03046233 -0.36437781 9.40327071] [ 0.05382869 0.99708135 0.05414102 -0.20921197] [ 0.36166506 -0.07000589 0.92967605 0.81344121] [ 0. 0. 0. 1. ]] SLAMing on 113.32538475 meters Centerline goodness : 0.924061 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.22, Z:0.81 [[ 0.93101891 -0.03277036 -0.36349675 9.3993287 ] [ 0.05563564 0.9970641 0.05261034 -0.21543938] [ 0.3607055 -0.0692046 0.93010874 0.81456787] [ 0. 0. 0. 1. ]] SLAMing on 113.35538474999998 meters Centerline goodness : 0.923374 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.22, Z:0.81 [[ 0.93105519 -0.03501887 -0.36319405 9.40123016] [ 0.05765832 0.99699792 0.05167856 -0.22210052] [ 0.36029399 -0.06905675 0.93027921 0.8141296 ] [ 0. 0. 0. 1. ]] SLAMing on 113.38538474999999 meters Centerline goodness : 0.921715 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.22, Z:0.81 [[ 0.93129807 -0.03817921 -0.36225166 9.40198974] [ 0.06002085 0.99698245 0.04922903 -0.22445188] [ 0.35927902 -0.06758955 0.93077937 0.81228719] [ 0. 0. 0. 1. ]] SLAMing on 113.41538474999999 meters Centerline goodness : 0.923266 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.23, Z:0.81 [[ 0.93108072 -0.03854751 -0.36277097 9.40456982] [ 0.06059485 0.99692987 0.04958923 -0.22773151] [ 0.35974568 -0.06815363 0.93055797 0.81254469] [ 0. 0. 0. 1. ]] SLAMing on 113.44538474999999 meters Centerline goodness : 0.927402 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.23, Z:0.81 [[ 0.9312975 -0.04549694 -0.36140696 9.40017572] [ 0.06588728 0.99684357 0.0442917 -0.23499699] [ 0.35825107 -0.06506087 0.9313556 0.81308715] [ 0. 0. 0. 1. ]] SLAMing on 113.47538474999999 meters Centerline goodness : 0.934294 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:0.81 [[ 0.93123785 -0.04960895 -0.36101942 9.39921487] [ 0.06911633 0.99675269 0.04131604 -0.23793402] [ 0.35779744 -0.0634274 0.93164261 0.81349886] [ 0. 0. 0. 1. ]] SLAMing on 113.50538474999999 meters Centerline goodness : 0.930945 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:0.81 [[ 0.93057876 -0.05655512 -0.36169695 9.40456376] [ 0.07503254 0.99648571 0.03723371 -0.24195652] [ 0.35832008 -0.06178794 0.93155191 0.81381614] [ 0. 0. 0. 1. ]] SLAMing on 113.53538474999999 meters Centerline goodness : 0.924933 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.24, Z:0.81 [[ 0.93028522 -0.05773572 -0.36226509 9.40882215] [ 0.07621396 0.99640797 0.03691328 -0.24336549] [ 0.3588326 -0.06194954 0.93134388 0.81322444] [ 0. 0. 0. 1. ]] SLAMing on 113.56538474999999 meters Centerline goodness : 0.920259 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:0.81 [[ 0.92978137 -0.06432801 -0.36244794 9.41736528] [ 0.08193477 0.99607788 0.03339986 -0.24657161] [ 0.35887783 -0.06075166 0.93140536 0.81136214] [ 0. 0. 0. 1. ]] SLAMing on 113.59538475 meters Centerline goodness : 0.917616 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:0.81 [[ 0.92945256 -0.06568688 -0.36304705 9.42162191] [ 0.0832483 0.99598487 0.03292191 -0.24732727] [ 0.35942684 -0.0608224 0.93118902 0.81083054] [ 0. 0. 0. 1. ]] SLAMing on 113.62538475 meters Centerline goodness : 0.913954 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.81 [[ 0.92911185 -0.06708459 -0.36366306 9.42610039] [ 0.08458288 0.99588995 0.03238734 -0.24942988] [ 0.3599957 -0.06085113 0.93096737 0.81023002] [ 0. 0. 0. 1. ]] SLAMing on 113.65538475 meters Centerline goodness : 0.914602 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.81 [[ 0.92905005 -0.06688181 -0.36385825 9.42621909] [ 0.0845137 0.99588446 0.032735 -0.25040872] [ 0.3601714 -0.06116346 0.93087894 0.8108624 ] [ 0. 0. 0. 1. ]] SLAMing on 113.68538475 meters Centerline goodness : 0.912491 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.81 [[ 0.9289394 -0.06667167 -0.3641792 9.42637049] [ 0.08446813 0.99587491 0.03314065 -0.25146274] [ 0.36046738 -0.06154719 0.93073907 0.81177037] [ 0. 0. 0. 1. ]] SLAMing on 113.71538475 meters Centerline goodness : 0.914565 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.81 [[ 0.92881066 -0.06654468 -0.3645306 9.42682222] [ 0.08464871 0.99583424 0.03389333 -0.25268357] [ 0.36075663 -0.06233753 0.93057439 0.81314884] [ 0. 0. 0. 1. ]] SLAMing on 113.74538474999999 meters Centerline goodness : 0.915700 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.81 [[ 0.9287776 -0.06624829 -0.3646688 9.42622855] [ 0.08471556 0.9957952 0.03485955 -0.25407784] [ 0.36082605 -0.06326989 0.93048454 0.81480292] [ 0. 0. 0. 1. ]] SLAMing on 113.77538474999999 meters Centerline goodness : 0.918421 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92868161 -0.06622217 -0.36491792 9.42611996] [ 0.08483586 0.99577316 0.03519489 -0.25411394] [ 0.36104479 -0.06364298 0.93037424 0.81587989] [ 0. 0. 0. 1. ]] SLAMing on 113.80538474999999 meters Centerline goodness : 0.920337 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:0.82 [[ 0.92878054 -0.0658758 -0.36472878 9.42489293] [ 0.08458369 0.99578243 0.03553796 -0.25332579] [ 0.36084942 -0.06385707 0.93043537 0.81636627] [ 0. 0. 0. 1. ]] SLAMing on 113.83538474999999 meters Centerline goodness : 0.922465 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92871388 -0.06596744 -0.36488194 9.42518919] [ 0.08480695 0.99575294 0.03583107 -0.25354259] [ 0.36096858 -0.06422134 0.93036407 0.81703005] [ 0. 0. 0. 1. ]] SLAMing on 113.86538474999999 meters Centerline goodness : 0.923983 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92869991 -0.06625194 -0.36486593 9.4255011 ] [ 0.08514531 0.99572086 0.03592003 -0.25313902] [ 0.36092485 -0.06442555 0.93036692 0.81734787] [ 0. 0. 0. 1. ]] SLAMing on 113.89538474999999 meters Centerline goodness : 0.925679 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92879402 -0.06574965 -0.36471722 9.42502932] [ 0.08478504 0.99573387 0.03640817 -0.25322101] [ 0.36076747 -0.06473825 0.93040625 0.81750808] [ 0. 0. 0. 1. ]] SLAMing on 113.92538474999999 meters Centerline goodness : 0.929017 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:0.82 [[ 0.92897679 -0.06456571 -0.36446316 9.42280228] [ 0.08387646 0.99577453 0.03738756 -0.25483963] [ 0.36050917 -0.06530206 0.93046697 0.81843513] [ 0. 0. 0. 1. ]] SLAMing on 113.95538475 meters Centerline goodness : 0.928767 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:0.82 [[ 0.92905392 -0.06382429 -0.36439714 9.42168293] [ 0.08329453 0.99580211 0.03794967 -0.25602772] [ 0.36044533 -0.06560958 0.93047007 0.81896652] [ 0. 0. 0. 1. ]] SLAMing on 113.98538475 meters Centerline goodness : 0.930478 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:0.82 [[ 0.92923184 -0.06282789 -0.36411653 9.41998103] [ 0.08244747 0.99584858 0.03857488 -0.2569154 ] [ 0.36018135 -0.06586549 0.93055421 0.81936726] [ 0. 0. 0. 1. ]] SLAMing on 114.01538475 meters Centerline goodness : 0.930056 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:0.82 [[ 0.92939207 -0.06208373 -0.36383512 9.41883575] [ 0.08169879 0.99590325 0.03875607 -0.257108 ] [ 0.35993845 -0.06574447 0.93065674 0.81906443] [ 0. 0. 0. 1. ]] SLAMing on 114.04538475 meters Centerline goodness : 0.929517 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:0.82 [[ 0.92940313 -0.06208208 -0.36380713 9.41958552] [ 0.08162795 0.99591578 0.03858294 -0.25665119] [ 0.35992595 -0.06555593 0.93067488 0.81844659] [ 0. 0. 0. 1. ]] SLAMing on 114.07538475 meters Centerline goodness : 0.927664 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:0.82 [[ 0.92937805 -0.06223402 -0.36384525 9.42071961] [ 0.08164862 0.99592854 0.03820801 -0.25541716] [ 0.35998603 -0.06521714 0.93067544 0.81761889] [ 0. 0. 0. 1. ]] SLAMing on 114.10538474999998 meters Centerline goodness : 0.926110 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92910168 -0.05928822 -0.36504105 9.42583161] [ 0.07956807 0.9959961 0.04075157 -0.25383891] [ 0.36116338 -0.06690796 0.9300991 0.81705429] [ 0. 0. 0. 1. ]] SLAMing on 114.13538474999999 meters Centerline goodness : 0.921993 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92880862 -0.06074941 -0.36554624 9.42905671] [ 0.08080223 0.99593537 0.03979613 -0.25338677] [ 0.36164284 -0.06649994 0.92994205 0.81657968] [ 0. 0. 0. 1. ]] SLAMing on 114.16538474999999 meters Centerline goodness : 0.923296 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92864548 -0.06104702 -0.36591097 9.42989211] [ 0.08110251 0.99591577 0.03967575 -0.25316286] [ 0.36199441 -0.06652101 0.92980374 0.81699398] [ 0. 0. 0. 1. ]] SLAMing on 114.19538474999999 meters Centerline goodness : 0.920719 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.9284662 -0.06151259 -0.36628775 9.43059209] [ 0.08161108 0.99587624 0.03962515 -0.25339954] [ 0.36233982 -0.06668375 0.92965754 0.81777333] [ 0. 0. 0. 1. ]] SLAMing on 114.22538474999999 meters Centerline goodness : 0.923559 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92820365 -0.0624913 -0.36678717 9.43155238] [ 0.08255957 0.99581226 0.03926664 -0.25201085] [ 0.36279733 -0.06672923 0.92947582 0.81882285] [ 0. 0. 0. 1. ]] SLAMing on 114.25538474999999 meters Centerline goodness : 0.924110 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92814283 -0.0626675 -0.36691099 9.43224959] [ 0.08275509 0.99579634 0.0392588 -0.25064258] [ 0.36290837 -0.06680152 0.92942728 0.81885502] [ 0. 0. 0. 1. ]] SLAMing on 114.28538474999999 meters Centerline goodness : 0.920442 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92817329 -0.0625017 -0.36686221 9.43217974] [ 0.08254566 0.99581652 0.03918761 -0.24763578] [ 0.36287816 -0.06665578 0.92944954 0.81858573] [ 0. 0. 0. 1. ]] SLAMing on 114.31538474999999 meters Centerline goodness : 0.922780 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.25, Z:0.82 [[ 0.92825022 -0.06226262 -0.3667082 9.4319988 ] [ 0.08227296 0.99583953 0.03917643 -0.24596895] [ 0.36274329 -0.0665357 0.92951079 0.81822987] [ 0. 0. 0. 1. ]] SLAMing on 114.34538475 meters Centerline goodness : 0.923944 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92855438 -0.06082708 -0.36617868 9.42810824] [ 0.08086722 0.99593694 0.03962458 -0.24435668] [ 0.36228063 -0.06640543 0.92970053 0.81881819] [ 0. 0. 0. 1. ]] SLAMing on 114.37538475 meters Centerline goodness : 0.924461 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92862779 -0.06010841 -0.3661112 9.42665134] [ 0.08021279 0.9959774 0.03993651 -0.24352448] [ 0.36223796 -0.06645295 0.92971376 0.81946121] [ 0. 0. 0. 1. ]] SLAMing on 114.40538475 meters Centerline goodness : 0.925354 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.24, Z:0.82 [[ 0.92884038 -0.05916792 -0.3657249 9.42449898] [ 0.07920849 0.99605428 0.04002349 -0.24217553] [ 0.36191374 -0.06614395 0.92986204 0.81930334] [ 0. 0. 0. 1. ]] SLAMing on 114.43538475 meters Centerline goodness : 0.924012 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.24, Z:0.82 [[ 0.92899164 -0.05401797 -0.3661374 9.423901 ] [ 0.07518637 0.99620738 0.0437934 -0.24008396] [ 0.36238315 -0.06821225 0.92952974 0.81996194] [ 0. 0. 0. 1. ]] SLAMing on 114.46538475 meters Centerline goodness : 0.922054 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.24, Z:0.82 [[ 0.92911628 -0.05359197 -0.36588364 9.42419354] [ 0.07441238 0.99629874 0.04303047 -0.23699228] [ 0.36222332 -0.06720659 0.92966528 0.81801334] [ 0. 0. 0. 1. ]] SLAMing on 114.49538474999999 meters Centerline goodness : 0.923300 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92903013 -0.05395967 -0.36604832 9.42571357] [ 0.07463343 0.9963027 0.04255323 -0.23583899] [ 0.36239878 -0.06685267 0.92962242 0.81728366] [ 0. 0. 0. 1. ]] SLAMing on 114.52538474999999 meters Centerline goodness : 0.921371 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92884053 -0.05480995 -0.36640297 9.42809256] [ 0.07526356 0.99628883 0.04176088 -0.23591503] [ 0.36275428 -0.06636599 0.92951863 0.81643953] [ 0. 0. 0. 1. ]] SLAMing on 114.55538474999999 meters Centerline goodness : 0.923709 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92855638 -0.05562431 -0.36699998 9.43043898] [ 0.07611101 0.99623215 0.04157666 -0.23748063] [ 0.36330451 -0.06653901 0.92929134 0.81685704] [ 0. 0. 0. 1. ]] SLAMing on 114.58538474999999 meters Centerline goodness : 0.926727 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:0.82 [[ 0.92786885 -0.06252018 -0.36762837 9.43425293] [ 0.08201175 0.995921 0.0376222 -0.24105345] [ 0.36377667 -0.06505832 0.92921147 0.81809247] [ 0. 0. 0. 1. ]] SLAMing on 114.61538474999999 meters Centerline goodness : 0.926927 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.24, Z:0.82 [[ 0.92755572 -0.06382666 -0.36819362 9.43799875] [ 0.08326132 0.99583603 0.03712348 -0.24148519] [ 0.364291 -0.06509038 0.9290077 0.81774592] [ 0. 0. 0. 1. ]] SLAMing on 114.64538474999999 meters Centerline goodness : 0.918811 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.24, Z:0.82 [[ 0.92699747 -0.06708571 -0.36901923 9.4453142 ] [ 0.0862062 0.99564277 0.0355524 -0.24215868] [ 0.36502627 -0.06476873 0.92874153 0.81643596] [ 0. 0. 0. 1. ]] SLAMing on 114.67538474999999 meters Centerline goodness : 0.919657 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.24, Z:0.82 [[ 0.92656163 -0.07235251 -0.36911875 9.44672498] [ 0.09040112 0.9953972 0.03181285 -0.24335453] [ 0.36511803 -0.06284531 0.9288376 0.81675678] [ 0. 0. 0. 1. ]] SLAMing on 114.70538475 meters Centerline goodness : 0.920710 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.24, Z:0.82 [[ 0.9263283 -0.07286351 -0.36960356 9.44806058] [ 0.09096985 0.99534665 0.03177323 -0.24417978] [ 0.36556856 -0.06305522 0.92864615 0.81746491] [ 0. 0. 0. 1. ]] SLAMing on 114.73538475 meters Centerline goodness : 0.921245 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.25, Z:0.82 [[ 0.92612483 -0.0726243 -0.37016011 9.44827523] [ 0.09115065 0.99529744 0.03278069 -0.24601857] [ 0.36603874 -0.06409934 0.92838942 0.81950104] [ 0. 0. 0. 1. ]] SLAMing on 114.76538475 meters Centerline goodness : 0.922621 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.25, Z:0.82 [[ 0.92606983 -0.07241039 -0.37033959 9.44776252] [ 0.09110725 0.99528685 0.03321971 -0.24673346] [ 0.36618867 -0.06450439 0.92830224 0.82053381] [ 0. 0. 0. 1. ]] SLAMing on 114.79538475 meters Centerline goodness : 0.931435 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.25, Z:0.83 [[ 0.92590285 -0.07137563 -0.37095744 9.44555563] [ 0.0913822 0.99514257 0.03661367 -0.24921625] [ 0.36654222 -0.06779961 0.92792781 0.82663485] [ 0. 0. 0. 1. ]] SLAMing on 114.82538475 meters Centerline goodness : 0.932116 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.25, Z:0.83 [[ 0.925849 -0.0716161 -0.3710455 9.44568114] [ 0.09171504 0.99510565 0.03678443 -0.24871948] [ 0.36659511 -0.06808728 0.92788585 0.82726498] [ 0. 0. 0. 1. ]] SLAMing on 114.85538474999998 meters Centerline goodness : 0.929778 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.25, Z:0.83 [[ 0.92556789 -0.07283734 -0.37150882 9.44841635] [ 0.09271857 0.99504459 0.03591012 -0.24598076] [ 0.36705224 -0.06768302 0.92773469 0.82678181] [ 0. 0. 0. 1. ]] SLAMing on 114.88538474999999 meters Centerline goodness : 0.923441 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.24, Z:0.83 [[ 0.92526686 -0.07423197 -0.37198232 9.45129532] [ 0.09388 0.99496942 0.03496271 -0.24387121] [ 0.36751568 -0.06727154 0.92758113 0.82638095] [ 0. 0. 0. 1. ]] SLAMing on 114.91538474999999 meters Centerline goodness : 0.925088 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.24, Z:0.83 [[ 0.92500785 -0.07537202 -0.37239702 9.45361308] [ 0.09479853 0.99491208 0.03410568 -0.24180579] [ 0.36793168 -0.06685071 0.92744664 0.82603362] [ 0. 0. 0. 1. ]] SLAMing on 114.94538474999999 meters Centerline goodness : 0.918232 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.24, Z:0.83 [[ 0.92481892 -0.07217777 -0.37349743 9.4571582 ] [ 0.09244454 0.99504452 0.03661167 -0.23943093] [ 0.36900402 -0.06838696 0.92690844 0.825935 ] [ 0. 0. 0. 1. ]] SLAMing on 114.97538474999999 meters Centerline goodness : 0.918232 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.24, Z:0.83 [[ 0.92481892 -0.07217777 -0.37349743 9.4571582 ] [ 0.09244454 0.99504452 0.03661167 -0.23943093] [ 0.36900402 -0.06838696 0.92690844 0.825935 ] [ 0. 0. 0. 1. ]] SLAMing on 115.00538474999999 meters Centerline goodness : 0.918502 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.24, Z:0.83 [[ 0.9246241 -0.06877584 -0.37462003 9.46067019] [ 0.09007158 0.99514714 0.03961419 -0.23798115] [ 0.37007755 -0.07037086 0.92633177 0.82630418] [ 0. 0. 0. 1. ]] SLAMing on 115.03538474999999 meters Centerline goodness : 0.921079 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.23, Z:0.83 [[ 0.92437223 -0.07340822 -0.37436242 9.45786327] [ 0.093434 0.99498879 0.03560037 -0.23484376] [ 0.36987305 -0.06788617 0.92659883 0.82750314] [ 0. 0. 0. 1. ]] SLAMing on 115.06538474999999 meters Centerline goodness : 0.921662 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.23, Z:0.83 [[ 0.92422429 -0.07386042 -0.37463862 9.45890429] [ 0.09368416 0.99498821 0.0349535 -0.2318563 ] [ 0.37017933 -0.06740258 0.92651182 0.82722032] [ 0. 0. 0. 1. ]] SLAMing on 115.09538475 meters Centerline goodness : 0.913007 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.23, Z:0.82 [[ 0.92432129 -0.06986293 -0.37516574 9.462807 ] [ 0.09030993 0.99521968 0.03717406 -0.22629096] [ 0.37077524 -0.06824197 0.92621205 0.8245422 ] [ 0. 0. 0. 1. ]] SLAMing on 115.12538475 meters Centerline goodness : 0.911547 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.82 [[ 0.92434995 -0.06541835 -0.37589575 9.46455441] [ 0.08697906 0.99538014 0.04065746 -0.22463652] [ 0.37149942 -0.07027678 0.9257696 0.82466049] [ 0. 0. 0. 1. ]] SLAMing on 115.15538475 meters Centerline goodness : 0.913093 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92452639 -0.06412472 -0.37568467 9.46135401] [ 0.08583752 0.99545165 0.04132719 -0.22294393] [ 0.37132583 -0.07045592 0.92582563 0.82574584] [ 0. 0. 0. 1. ]] SLAMing on 115.18538475 meters Centerline goodness : 0.914831 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92447904 -0.06354504 -0.37589964 9.4603856 ] [ 0.08534377 0.99548239 0.04160835 -0.22176425] [ 0.37155747 -0.07054674 0.92572577 0.82663 ] [ 0. 0. 0. 1. ]] SLAMing on 115.21538474999998 meters Centerline goodness : 0.917492 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92440075 -0.06321305 -0.37614807 9.45973589] [ 0.08507476 0.99549831 0.04177793 -0.22107676] [ 0.37181386 -0.07062026 0.92561722 0.82749961] [ 0. 0. 0. 1. ]] SLAMing on 115.24538474999999 meters Centerline goodness : 0.916602 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92436243 -0.05834919 -0.37702715 9.45999033] [ 0.0815385 0.99561611 0.04582623 -0.2200375 ] [ 0.37270038 -0.07310227 0.92506783 0.82917078] [ 0. 0. 0. 1. ]] SLAMing on 115.27538474999999 meters Centerline goodness : 0.917946 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92453705 -0.05716078 -0.37678097 9.4585149 ] [ 0.08037948 0.99569408 0.04617844 -0.21727089] [ 0.37251898 -0.07297914 0.92515061 0.82871423] [ 0. 0. 0. 1. ]] SLAMing on 115.30538474999999 meters Centerline goodness : 0.919375 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92467798 -0.05666711 -0.37650958 9.45749283] [ 0.07988164 0.99572758 0.04631965 -0.21661588] [ 0.37227617 -0.07290696 0.92525403 0.82853213] [ 0. 0. 0. 1. ]] SLAMing on 115.33538474999999 meters Centerline goodness : 0.920983 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92460985 -0.05666773 -0.37667679 9.45742905] [ 0.07984265 0.99573692 0.04618587 -0.21587332] [ 0.37245373 -0.07277878 0.92519266 0.82879378] [ 0. 0. 0. 1. ]] SLAMing on 115.36538474999999 meters Centerline goodness : 0.924661 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92465663 -0.05607183 -0.37665112 9.45640058] [ 0.07928362 0.99577179 0.04639672 -0.21597007] [ 0.37245701 -0.0727633 0.92519256 0.82912711] [ 0. 0. 0. 1. ]] SLAMing on 115.39538474999999 meters Centerline goodness : 0.919468 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92483689 -0.0556784 -0.37626672 9.45629973] [ 0.07859971 0.99585223 0.04583038 -0.21501235] [ 0.37215429 -0.07196008 0.92537718 0.827475 ] [ 0. 0. 0. 1. ]] SLAMing on 115.42538474999999 meters Centerline goodness : 0.918695 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:0.83 [[ 0.92480529 -0.05605479 -0.37628851 9.45750499] [ 0.07876355 0.99586694 0.04522549 -0.21435416] [ 0.37219818 -0.07146259 0.92539808 0.82659622] [ 0. 0. 0. 1. ]] SLAMing on 115.45538475 meters Centerline goodness : 0.919054 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:0.83 [[ 0.9248423 -0.05613753 -0.37618518 9.45858372] [ 0.07863248 0.99590105 0.04469931 -0.21463973] [ 0.37213391 -0.07092018 0.92546566 0.82532356] [ 0. 0. 0. 1. ]] SLAMing on 115.48538475 meters Centerline goodness : 0.915946 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:0.83 [[ 0.92470353 -0.05654072 -0.37646584 9.45986806] [ 0.07897465 0.99588678 0.04441302 -0.2147097 ] [ 0.37240621 -0.07080014 0.92536531 0.82531558] [ 0. 0. 0. 1. ]] SLAMing on 115.51538475 meters Centerline goodness : 0.917322 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92472539 -0.05644543 -0.37642645 9.46011474] [ 0.07888811 0.9958915 0.04446103 -0.21573294] [ 0.37237028 -0.07080981 0.92537903 0.82510885] [ 0. 0. 0. 1. ]] SLAMing on 115.54538475 meters Centerline goodness : 0.915325 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92454543 -0.05700693 -0.37678369 9.46117123] [ 0.0795255 0.99584046 0.04446884 -0.21676019] [ 0.37268141 -0.07107737 0.92523325 0.82575602] [ 0. 0. 0. 1. ]] SLAMing on 115.57538475 meters Centerline goodness : 0.918916 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92405306 -0.06312246 -0.37701658 9.46207611] [ 0.08479893 0.99554766 0.04115811 -0.21917079] [ 0.37273998 -0.07000288 0.92529158 0.82798577] [ 0. 0. 0. 1. ]] SLAMing on 115.60538474999998 meters Centerline goodness : 0.924525 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.22, Z:0.83 [[ 0.92363456 -0.064148 -0.37786801 9.46313235] [ 0.08617136 0.99540945 0.04164766 -0.22020187] [ 0.37346178 -0.07102862 0.92492229 0.83072638] [ 0. 0. 0. 1. ]] SLAMing on 115.63538474999999 meters Centerline goodness : 0.924223 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.22, Z:0.83 [[ 0.92298449 -0.06720752 -0.37892318 9.46841769] [ 0.08891142 0.99523394 0.04005208 -0.21812706] [ 0.3744254 -0.07065805 0.92456101 0.83095459] [ 0. 0. 0. 1. ]] SLAMing on 115.66538474999999 meters Centerline goodness : 0.919778 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.22, Z:0.83 [[ 0.92276381 -0.06824505 -0.37927506 9.47213954] [ 0.08968702 0.99520088 0.03913362 -0.21592726] [ 0.3747842 -0.07012714 0.92445605 0.82950039] [ 0. 0. 0. 1. ]] SLAMing on 115.69538474999999 meters Centerline goodness : 0.910628 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.21, Z:0.83 [[ 0.92265805 -0.06893253 -0.37940801 9.47484763] [ 0.09012764 0.99519101 0.03836492 -0.21373426] [ 0.37493885 -0.06959285 0.92443372 0.82799256] [ 0. 0. 0. 1. ]] SLAMing on 115.72538474999999 meters Centerline goodness : 0.909876 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.21, Z:0.83 [[ 0.92259007 -0.06487883 -0.38028713 9.47805617] [ 0.08727821 0.99530087 0.04193686 -0.21417011] [ 0.3757793 -0.07188131 0.9239172 0.82805137] [ 0. 0. 0. 1. ]] SLAMing on 115.75538474999999 meters Centerline goodness : 0.910894 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.22, Z:0.83 [[ 0.92246933 -0.06482425 -0.38058922 9.47776609] [ 0.08743741 0.99526683 0.0424103 -0.21600236] [ 0.37603861 -0.07239994 0.92377119 0.8294512 ] [ 0. 0. 0. 1. ]] SLAMing on 115.78538474999999 meters Centerline goodness : 0.917772 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92479847 -0.06650617 -0.37459941 9.48783533] [ 0.08579729 0.99569632 0.03503811 -0.21533344] [ 0.370657 -0.06454281 0.92652448 0.83240481] [ 0. 0. 0. 1. ]] SLAMing on 115.81538474999999 meters Centerline goodness : 0.920930 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92487795 -0.06569328 -0.37454661 9.48667953] [ 0.0853209 0.99570131 0.036045 -0.21630752] [ 0.37056864 -0.06529388 0.9265072 0.83343909] [ 0. 0. 0. 1. ]] SLAMing on 115.84538475 meters Centerline goodness : 0.917010 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92491335 -0.06557871 -0.37447928 9.48665476] [ 0.08527349 0.99569802 0.03624764 -0.21689166] [ 0.3704912 -0.06545908 0.92652651 0.83351087] [ 0. 0. 0. 1. ]] SLAMing on 115.87538475 meters Centerline goodness : 0.921434 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92501626 -0.06567387 -0.37420832 9.48692048] [ 0.08546805 0.99567102 0.03652984 -0.21842456] [ 0.37018933 -0.06577355 0.9266249 0.83336164] [ 0. 0. 0. 1. ]] SLAMing on 115.90538475 meters Centerline goodness : 0.919468 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92487198 -0.06586737 -0.37453078 9.4879781 ] [ 0.08572427 0.99564686 0.03658802 -0.21956673] [ 0.37049044 -0.06594561 0.92649231 0.83371948] [ 0. 0. 0. 1. ]] SLAMing on 115.93538475 meters Centerline goodness : 0.920597 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92467091 -0.06627719 -0.37495472 9.48950461] [ 0.08615085 0.99561436 0.03647018 -0.22205858] [ 0.37089316 -0.06602558 0.92632547 0.83409604] [ 0. 0. 0. 1. ]] SLAMing on 115.96538474999998 meters Centerline goodness : 0.922659 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92460271 -0.0665689 -0.3750712 9.4906421 ] [ 0.08643507 0.99559327 0.03637322 -0.22269414] [ 0.37099704 -0.06605009 0.92628213 0.83395482] [ 0. 0. 0. 1. ]] SLAMing on 115.99538474999999 meters Centerline goodness : 0.922993 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.9246058 -0.06677399 -0.37502713 9.4915419 ] [ 0.08660947 0.99558204 0.03626572 -0.22323291] [ 0.37094867 -0.0660124 0.92630419 0.83349366] [ 0. 0. 0. 1. ]] SLAMing on 116.02538474999999 meters Centerline goodness : 0.916287 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92458617 -0.0671553 -0.37500743 9.49280046] [ 0.08697468 0.99555418 0.03615619 -0.22481362] [ 0.37091214 -0.06604567 0.92631645 0.83309361] [ 0. 0. 0. 1. ]] SLAMing on 116.05538474999999 meters Centerline goodness : 0.921843 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.23, Z:0.83 [[ 0.9246367 -0.06699482 -0.37491156 9.49249022] [ 0.08694259 0.99554349 0.03652608 -0.22647428] [ 0.3707937 -0.06636913 0.92634074 0.83345446] [ 0. 0. 0. 1. ]] SLAMing on 116.08538474999999 meters Centerline goodness : 0.920258 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.23, Z:0.83 [[ 0.92464178 -0.06694714 -0.37490752 9.49245243] [ 0.08694779 0.99553781 0.03666812 -0.22694014] [ 0.37077979 -0.06650225 0.92633676 0.83370568] [ 0. 0. 0. 1. ]] SLAMing on 116.11538474999999 meters Centerline goodness : 0.925390 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.23, Z:0.83 [[ 0.92470842 -0.06620646 -0.37487471 9.49092431] [ 0.08642464 0.99555765 0.0373598 -0.2286628 ] [ 0.37073593 -0.06694533 0.9263224 0.8347171 ] [ 0. 0. 0. 1. ]] SLAMing on 116.14538474999999 meters Centerline goodness : 0.924429 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.23, Z:0.83 [[ 0.92464111 -0.06641654 -0.37500354 9.49158918] [ 0.08658609 0.99555061 0.03717307 -0.2281787 ] [ 0.37086609 -0.06684184 0.92627777 0.83468808] [ 0. 0. 0. 1. ]] SLAMing on 116.17538474999999 meters Centerline goodness : 0.922593 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.23, Z:0.83 [[ 0.92489441 -0.06547601 -0.37454402 9.49037455] [ 0.08551901 0.99564461 0.03712572 -0.2261441 ] [ 0.37048189 -0.066368 0.92646557 0.83350746] [ 0. 0. 0. 1. ]] SLAMing on 116.20538475 meters Centerline goodness : 0.919009 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92489635 -0.06551363 -0.37453264 9.49107199] [ 0.08544595 0.99566134 0.03684394 -0.22479862] [ 0.37049389 -0.06607912 0.92648142 0.83283074] [ 0. 0. 0. 1. ]] SLAMing on 116.23538475 meters Centerline goodness : 0.916412 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.22, Z:0.83 [[ 0.92458435 -0.07145009 -0.37421741 9.49285013] [ 0.09000767 0.99541631 0.03232638 -0.22426626] [ 0.37019239 -0.0635709 0.92677739 0.83186476] [ 0. 0. 0. 1. ]] SLAMing on 116.26538475 meters Centerline goodness : 0.914110 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92427343 -0.07266569 -0.37475101 9.495655 ] [ 0.09112986 0.99533241 0.0317608 -0.22379903] [ 0.3706939 -0.06350667 0.92658131 0.8318772 ] [ 0. 0. 0. 1. ]] SLAMing on 116.29538475 meters Centerline goodness : 0.911055 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92387333 -0.07459115 -0.3753588 9.50038224] [ 0.09268351 0.99523295 0.0303503 -0.22094927] [ 0.37130558 -0.0628294 0.92638255 0.8305649 ] [ 0. 0. 0. 1. ]] SLAMing on 116.32538475 meters Centerline goodness : 0.909639 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92382559 -0.07466208 -0.3754622 9.50088915] [ 0.0927699 0.99522472 0.03035636 -0.22052729] [ 0.37140279 -0.06287557 0.92634045 0.83060127] [ 0. 0. 0. 1. ]] SLAMing on 116.35538474999998 meters Centerline goodness : 0.914638 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92357212 -0.07579906 -0.37585774 9.50175413] [ 0.09396298 0.9951174 0.03020459 -0.22033694] [ 0.3717331 -0.06321283 0.92618499 0.83191778] [ 0. 0. 0. 1. ]] SLAMing on 116.38538474999999 meters Centerline goodness : 0.915338 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92346638 -0.07570422 -0.37613657 9.50104577] [ 0.09407359 0.99509231 0.03068328 -0.22070386] [ 0.37196776 -0.0637195 0.92605605 0.83343314] [ 0. 0. 0. 1. ]] SLAMing on 116.41538474999999 meters Centerline goodness : 0.915969 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92349269 -0.07524724 -0.37616366 9.49940557] [ 0.09372848 0.99511365 0.03104503 -0.21919187] [ 0.37198954 -0.06392711 0.926033 0.83451026] [ 0. 0. 0. 1. ]] SLAMing on 116.44538474999999 meters Centerline goodness : 0.915992 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.9234995 -0.07491569 -0.37621312 9.4991559 ] [ 0.09331872 0.99515651 0.03090523 -0.2168016 ] [ 0.37207565 -0.06364869 0.92601758 0.83429252] [ 0. 0. 0. 1. ]] SLAMing on 116.47538474999999 meters Centerline goodness : 0.921270 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.21, Z:0.83 [[ 0.92367028 -0.07413057 -0.3759493 9.49787265] [ 0.09247741 0.99523317 0.03096544 -0.21443223] [ 0.37186173 -0.06336867 0.9261227 0.8338574 ] [ 0. 0. 0. 1. ]] SLAMing on 116.50538474999999 meters Centerline goodness : 0.922569 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92415127 -0.06797766 -0.37593014 9.49487715] [ 0.08764029 0.99552188 0.03543116 -0.21355776] [ 0.37183815 -0.06569038 0.92597039 0.83484942] [ 0. 0. 0. 1. ]] SLAMing on 116.53538474999999 meters Centerline goodness : 0.920871 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.9244486 -0.06695689 -0.37538189 9.4929678 ] [ 0.08658366 0.99560681 0.03564211 -0.21252714] [ 0.37134628 -0.06545124 0.92618469 0.83423586] [ 0. 0. 0. 1. ]] SLAMing on 116.56538474999999 meters Centerline goodness : 0.924976 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92464956 -0.06569553 -0.3751097 9.49125365] [ 0.08516957 0.9957319 0.03555459 -0.21090403] [ 0.37117292 -0.06482347 0.92629832 0.83344515] [ 0. 0. 0. 1. ]] SLAMing on 116.59538475 meters Centerline goodness : 0.922375 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92499499 -0.06436895 -0.37448753 9.48966676] [ 0.08374125 0.99584886 0.03567138 -0.21003699] [ 0.37063685 -0.0643559 0.92654554 0.83204354] [ 0. 0. 0. 1. ]] SLAMing on 116.62538475 meters Centerline goodness : 0.922345 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92497218 -0.06434713 -0.37454761 9.48992361] [ 0.0837073 0.99585305 0.03563404 -0.21021423] [ 0.37070144 -0.06431286 0.92652269 0.83204089] [ 0. 0. 0. 1. ]] SLAMing on 116.65538475 meters Centerline goodness : 0.920383 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92478423 -0.06919923 -0.37414649 9.49045699] [ 0.0873502 0.99567147 0.03175331 -0.21061462] [ 0.37032968 -0.06204673 0.92682583 0.83131053] [ 0. 0. 0. 1. ]] SLAMing on 116.68538475 meters Centerline goodness : 0.923363 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.21, Z:0.83 [[ 0.92429464 -0.0706235 -0.37508899 9.49422555] [ 0.08880991 0.9955536 0.03139799 -0.21100671] [ 0.37120375 -0.06233261 0.92645692 0.83200251] [ 0. 0. 0. 1. ]] SLAMing on 116.71538474999998 meters Centerline goodness : 0.920772 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.21, Z:0.83 [[ 0.92383193 -0.07300025 -0.37577323 9.49926305] [ 0.09108033 0.9953748 0.03055116 -0.2119812 ] [ 0.37180497 -0.06244969 0.92620792 0.83183436] [ 0. 0. 0. 1. ]] SLAMing on 116.74538474999999 meters Centerline goodness : 0.920797 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.21, Z:0.83 [[ 0.92358062 -0.07382395 -0.37622979 9.50165933] [ 0.09192133 0.99530357 0.03035251 -0.21290937] [ 0.37222211 -0.06261653 0.92602909 0.83196244] [ 0. 0. 0. 1. ]] SLAMing on 116.77538474999999 meters Centerline goodness : 0.918725 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.22, Z:0.83 [[ 0.92315691 -0.07492658 -0.37705082 9.50520311] [ 0.09332652 0.99516086 0.03074128 -0.21578042] [ 0.37292288 -0.06356786 0.92568226 0.83316782] [ 0. 0. 0. 1. ]] SLAMing on 116.80538474999999 meters Centerline goodness : 0.921014 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.83 [[ 0.92313337 -0.07464135 -0.37716502 9.50486805] [ 0.09332583 0.99513778 0.03148161 -0.21813594] [ 0.37298133 -0.06426097 0.92561085 0.83424953] [ 0. 0. 0. 1. ]] SLAMing on 116.83538474999999 meters Centerline goodness : 0.927481 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.22, Z:0.84 [[ 0.92327835 -0.07327263 -0.37707851 9.50222163] [ 0.09292225 0.99508726 0.03415852 -0.22357349] [ 0.37272314 -0.0665768 0.92555118 0.83773475] [ 0. 0. 0. 1. ]] SLAMing on 116.86538474999999 meters Centerline goodness : 0.930152 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.23, Z:0.84 [[ 0.92322592 -0.07289995 -0.37727908 9.50161885] [ 0.09287995 0.99506155 0.03501187 -0.22589534] [ 0.37286354 -0.06736553 0.92543756 0.83921653] [ 0. 0. 0. 1. ]] SLAMing on 116.89538474999999 meters Centerline goodness : 0.930152 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.23, Z:0.84 [[ 0.92322592 -0.07289995 -0.37727908 9.50161885] [ 0.09287995 0.99506155 0.03501187 -0.22589534] [ 0.37286354 -0.06736553 0.92543756 0.83921653] [ 0. 0. 0. 1. ]] SLAMing on 116.92538474999999 meters Centerline goodness : 0.932290 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.23, Z:0.84 [[ 0.92314448 -0.07297328 -0.37746412 9.50176989] [ 0.09325471 0.99500171 0.03570945 -0.22813858] [ 0.37297161 -0.06816529 0.92533544 0.8405269 ] [ 0. 0. 0. 1. ]] SLAMing on 116.95538475 meters Centerline goodness : 0.935468 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.23, Z:0.84 [[ 0.92307561 -0.07340088 -0.37754963 9.50256264] [ 0.09391557 0.99492223 0.03618862 -0.23049617] [ 0.37297625 -0.06886263 0.92528194 0.84128906] [ 0. 0. 0. 1. ]] SLAMing on 116.98538475 meters Centerline goodness : 0.933405 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.23, Z:0.84 [[ 0.92276349 -0.07928745 -0.37712204 9.50460004] [ 0.09835748 0.99465097 0.03154776 -0.2302717 ] [ 0.37260346 -0.06620389 0.92562611 0.83974857] [ 0. 0. 0. 1. ]] SLAMing on 117.01538475 meters Centerline goodness : 0.936673 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.23, Z:0.84 [[ 0.92249014 -0.08011352 -0.37761591 9.50703788] [ 0.09917083 0.99457924 0.03126158 -0.23082651] [ 0.37306446 -0.06628698 0.92543446 0.83991914] [ 0. 0. 0. 1. ]] SLAMing on 117.04538475 meters Centerline goodness : 0.931669 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.23, Z:0.84 [[ 0.92234388 -0.08124496 -0.37773141 9.51032882] [ 0.09994281 0.99453693 0.03012863 -0.23022786] [ 0.37322004 -0.0655405 0.9254249 0.83806848] [ 0. 0. 0. 1. ]] SLAMing on 117.07538475 meters Centerline goodness : 0.931989 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.23, Z:0.84 [[ 0.92202151 -0.08215562 -0.37832102 9.51243439] [ 0.10090674 0.99444432 0.02997189 -0.23146808] [ 0.37375683 -0.06580987 0.92518911 0.83884208] [ 0. 0. 0. 1. ]] SLAMing on 117.10538474999998 meters Centerline goodness : 0.926336 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92168531 -0.0837998 -0.37877932 9.51652414] [ 0.10224781 0.99434152 0.02881541 -0.23133641] [ 0.37422128 -0.06528809 0.92503832 0.83779569] [ 0. 0. 0. 1. ]] SLAMing on 117.13538474999999 meters Centerline goodness : 0.927853 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92159036 -0.08403859 -0.37895742 9.51757953] [ 0.10247228 0.99432175 0.02869998 -0.2314235 ] [ 0.3743937 -0.06528226 0.92496896 0.83767544] [ 0. 0. 0. 1. ]] SLAMing on 117.16538474999999 meters Centerline goodness : 0.930012 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92156155 -0.08408725 -0.37901669 9.51799269] [ 0.10254128 0.99431378 0.02872957 -0.23146278] [ 0.37444573 -0.06534092 0.92494376 0.83771498] [ 0. 0. 0. 1. ]] SLAMing on 117.19538474999999 meters Centerline goodness : 0.927238 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92140211 -0.0840841 -0.37940481 9.51868934] [ 0.10268928 0.99428978 0.0290301 -0.23115621] [ 0.37479735 -0.0657092 0.92477524 0.83849358] [ 0. 0. 0. 1. ]] SLAMing on 117.22538474999999 meters Centerline goodness : 0.929197 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92133605 -0.08420633 -0.37953811 9.51940065] [ 0.10283071 0.99427521 0.02902839 -0.23058343] [ 0.37492096 -0.06577308 0.92472059 0.83853883] [ 0. 0. 0. 1. ]] SLAMing on 117.25538474999999 meters Centerline goodness : 0.928547 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92142541 -0.08362733 -0.37944918 9.51831654] [ 0.10234229 0.99431523 0.02938169 -0.23009385] [ 0.37483498 -0.06590674 0.92474593 0.83885175] [ 0. 0. 0. 1. ]] SLAMing on 117.28538474999999 meters Centerline goodness : 0.929642 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92129503 -0.08327639 -0.37984275 9.51811667] [ 0.10212155 0.99432857 0.02969644 -0.22962027] [ 0.37521549 -0.06614931 0.92457428 0.83982198] [ 0. 0. 0. 1. ]] SLAMing on 117.31538474999999 meters Centerline goodness : 0.928697 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92125751 -0.08323363 -0.3799431 9.51825236] [ 0.10210894 0.99432797 0.02975999 -0.22868022] [ 0.37531102 -0.0662122 0.92453101 0.84000521] [ 0. 0. 0. 1. ]] SLAMing on 117.34538475 meters Centerline goodness : 0.930388 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92129489 -0.08322078 -0.37985527 9.51826109] [ 0.10212445 0.9943237 0.02984911 -0.22787946] [ 0.37521504 -0.06629235 0.92456422 0.83998978] [ 0. 0. 0. 1. ]] SLAMing on 117.37538475 meters Centerline goodness : 0.927854 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92117596 -0.08298426 -0.3801953 9.51822387] [ 0.1021279 0.99430601 0.03042126 -0.22770621] [ 0.37550599 -0.06685188 0.9244058 0.84121021] [ 0. 0. 0. 1. ]] SLAMing on 117.40538475 meters Centerline goodness : 0.929744 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92119355 -0.08302117 -0.38014461 9.5179954 ] [ 0.10221816 0.99429263 0.03055516 -0.22800829] [ 0.37543826 -0.0670049 0.92442223 0.84149098] [ 0. 0. 0. 1. ]] SLAMing on 117.43538475 meters Centerline goodness : 0.935287 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92075047 -0.08482693 -0.38081881 9.51948319] [ 0.10437062 0.99405758 0.03092401 -0.22804763] [ 0.37593264 -0.06821959 0.92413243 0.84447827] [ 0. 0. 0. 1. ]] SLAMing on 117.46538474999998 meters Centerline goodness : 0.933510 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.23, Z:0.84 [[ 0.92064888 -0.08518886 -0.3809836 9.51984058] [ 0.10474122 0.99402115 0.03084216 -0.22750388] [ 0.37607834 -0.06829948 0.92406724 0.84490937] [ 0. 0. 0. 1. ]] SLAMing on 117.49538474999999 meters Centerline goodness : 0.932349 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.22, Z:0.85 [[ 0.9202783 -0.08250022 -0.38246772 9.52424367] [ 0.1031124 0.99409959 0.03367255 -0.22470772] [ 0.37743301 -0.07042528 0.92335508 0.84606368] [ 0. 0. 0. 1. ]] SLAMing on 117.52538474999999 meters Centerline goodness : 0.932955 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.22, Z:0.85 [[ 0.92030452 -0.08258099 -0.3823872 9.52465088] [ 0.10295369 0.9941357 0.03308699 -0.22177475] [ 0.37741241 -0.06981829 0.92340959 0.84506759] [ 0. 0. 0. 1. ]] SLAMing on 117.55538474999999 meters Centerline goodness : 0.928973 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.22, Z:0.85 [[ 0.92054097 -0.07758444 -0.38286418 9.52439071] [ 0.09898605 0.99441969 0.03648611 -0.21907419] [ 0.37789692 -0.07148517 0.92308385 0.8451602 ] [ 0. 0. 0. 1. ]] SLAMing on 117.58538474999999 meters Centerline goodness : 0.927697 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.22, Z:0.84 [[ 0.92056868 -0.07726253 -0.38286265 9.52440433] [ 0.09848197 0.99448367 0.03610457 -0.21688791] [ 0.37796112 -0.0709418 0.92309948 0.8444555 ] [ 0. 0. 0. 1. ]] SLAMing on 117.61538474999999 meters Centerline goodness : 0.928997 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.21, Z:0.84 [[ 0.9206647 -0.07669281 -0.38274629 9.52372286] [ 0.0977461 0.99456605 0.03583399 -0.2149881 ] [ 0.37791826 -0.07040304 0.92315828 0.84378118] [ 0. 0. 0. 1. ]] SLAMing on 117.64538474999999 meters Centerline goodness : 0.930047 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.21, Z:0.84 [[ 0.92075105 -0.07152273 -0.38353879 9.52417029] [ 0.09378118 0.99480395 0.03962577 -0.21414635] [ 0.37871176 -0.07245419 0.92267426 0.84445597] [ 0. 0. 0. 1. ]] SLAMing on 117.67538474999999 meters Centerline goodness : 0.928938 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.9206881 -0.0717951 -0.38363902 9.52502189] [ 0.09390542 0.99480945 0.03919092 -0.21366496] [ 0.378834 -0.07210839 0.92265117 0.84395495] [ 0. 0. 0. 1. ]] SLAMing on 117.70538475 meters Centerline goodness : 0.923564 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92057918 -0.07216147 -0.38383159 9.52633654] [ 0.09416559 0.99479936 0.03882095 -0.21335647] [ 0.37903405 -0.07188149 0.92258671 0.84355966] [ 0. 0. 0. 1. ]] SLAMing on 117.73538475 meters Centerline goodness : 0.924962 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92048789 -0.072466 -0.38399313 9.52760458] [ 0.09440986 0.99478553 0.03858143 -0.21336279] [ 0.37919497 -0.07176648 0.92252954 0.84321001] [ 0. 0. 0. 1. ]] SLAMing on 117.76538475 meters Centerline goodness : 0.925338 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92038285 -0.07309374 -0.38412592 9.52935518] [ 0.09490087 0.99475743 0.03809843 -0.21291389] [ 0.37932735 -0.07151902 0.92249433 0.84258041] [ 0. 0. 0. 1. ]] SLAMing on 117.79538475 meters Centerline goodness : 0.927372 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92033798 -0.07304968 -0.38424177 9.52937777] [ 0.0949219 0.99474992 0.0382417 -0.21338596] [ 0.37943093 -0.07166825 0.92244015 0.84295267] [ 0. 0. 0. 1. ]] SLAMing on 117.82538475 meters Centerline goodness : 0.928545 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92021486 -0.07331726 -0.38448562 9.52996636] [ 0.09522701 0.99472119 0.03823049 -0.21352572] [ 0.37965304 -0.07179368 0.922339 0.84344824] [ 0. 0. 0. 1. ]] SLAMing on 117.85538474999998 meters Centerline goodness : 0.928009 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92019555 -0.0733098 -0.38453326 9.52956785] [ 0.09532908 0.99470147 0.03848831 -0.21401938] [ 0.37967423 -0.07207397 0.92230842 0.84411377] [ 0. 0. 0. 1. ]] SLAMing on 117.88538474999999 meters Centerline goodness : 0.936194 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.85 [[ 0.92005206 -0.07785326 -0.38398317 9.52722335] [ 0.09888223 0.9944729 0.03529802 -0.21427709] [ 0.37911279 -0.07044512 0.92266515 0.84528264] [ 0. 0. 0. 1. ]] SLAMing on 117.91538474999999 meters Centerline goodness : 0.935554 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.85 [[ 0.91989082 -0.07806686 -0.38432597 9.52806476] [ 0.09919778 0.99443661 0.03543499 -0.21390868] [ 0.37942152 -0.0707206 0.92251716 0.84592588] [ 0. 0. 0. 1. ]] SLAMing on 117.94538474999999 meters Centerline goodness : 0.937291 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.85 [[ 0.9199014 -0.07812775 -0.38428826 9.52851975] [ 0.09915719 0.99444957 0.03518382 -0.21280561] [ 0.37940646 -0.07047059 0.92254248 0.84540242] [ 0. 0. 0. 1. ]] SLAMing on 117.97538474999999 meters Centerline goodness : 0.935936 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.85 [[ 0.92005504 -0.07332446 -0.38486654 9.52898998] [ 0.09549696 0.99467369 0.03878889 -0.21141901] [ 0.37997245 -0.07244149 0.9221568 0.84572442] [ 0. 0. 0. 1. ]] SLAMing on 118.00538474999999 meters Centerline goodness : 0.935658 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92038269 -0.07241737 -0.38425437 9.52691915] [ 0.09434973 0.99479402 0.03850963 -0.20975137] [ 0.37946519 -0.07169789 0.92242376 0.84452696] [ 0. 0. 0. 1. ]] SLAMing on 118.03538474999999 meters Centerline goodness : 0.935363 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.9204251 -0.07219966 -0.38419375 9.52640062] [ 0.0940553 0.99482697 0.03837826 -0.2090594 ] [ 0.37943541 -0.07145977 0.92245448 0.84442411] [ 0. 0. 0. 1. ]] SLAMing on 118.06538474999999 meters Centerline goodness : 0.936475 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92032164 -0.07246489 -0.38439162 9.52716784] [ 0.094198 0.99482845 0.03798815 -0.20796493] [ 0.37965091 -0.07117024 0.92238819 0.84433502] [ 0. 0. 0. 1. ]] SLAMing on 118.09538475 meters Centerline goodness : 0.933786 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92042778 -0.07236467 -0.38415629 9.52714207] [ 0.09384736 0.99488211 0.03744673 -0.20641747] [ 0.3794804 -0.07051906 0.92250837 0.84323556] [ 0. 0. 0. 1. ]] SLAMing on 118.12538475 meters Centerline goodness : 0.935024 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92045269 -0.0724724 -0.38407629 9.52775267] [ 0.09379256 0.99490226 0.03704646 -0.20531824] [ 0.37943352 -0.07012301 0.92255784 0.84244416] [ 0. 0. 0. 1. ]] SLAMing on 118.15538475 meters Centerline goodness : 0.935156 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.92016584 -0.07339662 -0.38458779 9.52952367] [ 0.09477489 0.99481448 0.0369034 -0.20622817] [ 0.37988492 -0.07040651 0.92235046 0.84327192] [ 0. 0. 0. 1. ]] SLAMing on 118.18538475 meters Centerline goodness : 0.937659 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.91990896 -0.07463773 -0.38496326 9.53130181] [ 0.09606191 0.99469875 0.0366948 -0.20739385] [ 0.38018366 -0.07073618 0.92220214 0.84413341] [ 0. 0. 0. 1. ]] SLAMing on 118.21538474999998 meters Centerline goodness : 0.937869 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:0.84 [[ 0.91968564 -0.0752713 -0.38537326 9.53340015] [ 0.09667771 0.9946483 0.03644425 -0.20703989] [ 0.38056766 -0.07077426 0.92204081 0.84415589] [ 0. 0. 0. 1. ]] SLAMing on 118.24538474999999 meters Centerline goodness : 0.933576 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.21, Z:0.84 [[ 0.91944435 -0.07597441 -0.38581079 9.53596188] [ 0.09739711 0.99458497 0.03625669 -0.20830606] [ 0.38096704 -0.07091286 0.92186522 0.84409381] [ 0. 0. 0. 1. ]] SLAMing on 118.27538474999999 meters Centerline goodness : 0.935171 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.21, Z:0.84 [[ 0.91924987 -0.07643033 -0.386184 9.53749641] [ 0.09788938 0.99453946 0.03617917 -0.20901367] [ 0.38131004 -0.07106101 0.92171199 0.84437755] [ 0. 0. 0. 1. ]] SLAMing on 118.30538474999999 meters Centerline goodness : 0.936559 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.21, Z:0.85 [[ 0.91876427 -0.07727126 -0.38717099 9.54012776] [ 0.09916334 0.99438834 0.03685734 -0.21175423] [ 0.38215031 -0.07225638 0.92127095 0.84666439] [ 0. 0. 0. 1. ]] SLAMing on 118.33538474999999 meters Centerline goodness : 0.937584 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.21, Z:0.85 [[ 0.91840177 -0.07786058 -0.38791226 9.54152154] [ 0.09999726 0.99429292 0.03717705 -0.21364797] [ 0.38280378 -0.07293363 0.92094622 0.84846978] [ 0. 0. 0. 1. ]] SLAMing on 118.36538474999999 meters Centerline goodness : 0.934587 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.21, Z:0.85 [[ 0.91819008 -0.07863809 -0.38825639 9.54372131] [ 0.10074901 0.99422774 0.03688947 -0.21439023] [ 0.38311436 -0.07298799 0.92081276 0.8483957 ] [ 0. 0. 0. 1. ]] SLAMing on 118.39538474999999 meters Centerline goodness : 0.933523 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91796942 -0.07922104 -0.38865946 9.54562286] [ 0.1013069 0.99418064 0.03663004 -0.21396297] [ 0.38349584 -0.07299914 0.92065306 0.84844825] [ 0. 0. 0. 1. ]] SLAMing on 118.42538474999999 meters Centerline goodness : 0.936734 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.22, Z:0.85 [[ 0.91752418 -0.07969511 -0.38961272 9.54645966] [ 0.10246873 0.99401068 0.03798577 -0.21629083] [ 0.38425193 -0.07477598 0.92019509 0.85219087] [ 0. 0. 0. 1. ]] SLAMing on 118.45538475 meters Centerline goodness : 0.940717 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.22, Z:0.85 [[ 0.91736658 -0.079954 -0.38993065 9.54708962] [ 0.10275351 0.99398345 0.037929 -0.21557907] [ 0.38455204 -0.07486154 0.92006276 0.85272739] [ 0. 0. 0. 1. ]] SLAMing on 118.48538475 meters Centerline goodness : 0.937579 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91738405 -0.07976771 -0.3899277 9.54669388] [ 0.10248524 0.99401718 0.03777073 -0.21338389] [ 0.38458194 -0.0746121 0.92007052 0.85258232] [ 0. 0. 0. 1. ]] SLAMing on 118.51538475 meters Centerline goodness : 0.939438 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91741034 -0.07970331 -0.38987901 9.54643552] [ 0.10233568 0.99403943 0.03759006 -0.21227532] [ 0.38455906 -0.07438405 0.92009855 0.85237333] [ 0. 0. 0. 1. ]] SLAMing on 118.54538475 meters Centerline goodness : 0.937108 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91743523 -0.0794086 -0.38988058 9.5462282 ] [ 0.1018963 0.9940954 0.03730254 -0.20938362] [ 0.38461635 -0.07395005 0.92010959 0.85185641] [ 0. 0. 0. 1. ]] SLAMing on 118.57538475 meters Centerline goodness : 0.937093 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91744349 -0.07931003 -0.38988121 9.54597778] [ 0.10173011 0.99411775 0.03716033 -0.20838379] [ 0.38464064 -0.07375516 0.92011508 0.85179869] [ 0. 0. 0. 1. ]] SLAMing on 118.60538474999998 meters Centerline goodness : 0.935457 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91735777 -0.07896403 -0.39015305 9.54539282] [ 0.10142431 0.99414492 0.03726918 -0.20837307] [ 0.38492574 -0.07376018 0.91999544 0.85254861] [ 0. 0. 0. 1. ]] SLAMing on 118.63538474999999 meters Centerline goodness : 0.935938 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91724242 -0.07916753 -0.39038295 9.54616549] [ 0.10160787 0.99413127 0.0371331 -0.20783628] [ 0.38515216 -0.07372604 0.91990341 0.8527053 ] [ 0. 0. 0. 1. ]] SLAMing on 118.66538474999999 meters Centerline goodness : 0.935355 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91718236 -0.07925142 -0.39050703 9.54669037] [ 0.10160243 0.99414134 0.03687732 -0.20758631] [ 0.3852966 -0.07349969 0.91986104 0.85248421] [ 0. 0. 0. 1. ]] SLAMing on 118.69538474999999 meters Centerline goodness : 0.933802 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91708869 -0.07968981 -0.39063778 9.54829723] [ 0.10188965 0.99412948 0.03640165 -0.20735033] [ 0.3854437 -0.07318549 0.91982446 0.8518194 ] [ 0. 0. 0. 1. ]] SLAMing on 118.72538474999999 meters Centerline goodness : 0.930438 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91696062 -0.08032129 -0.39080905 9.55041648] [ 0.10225726 0.99412039 0.03561035 -0.2062454 ] [ 0.38565098 -0.07261635 0.91978268 0.85071364] [ 0. 0. 0. 1. ]] SLAMing on 118.75538474999999 meters Centerline goodness : 0.929272 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.9167611 -0.08092922 -0.39115158 9.55228218] [ 0.10272289 0.99409127 0.03507929 -0.20525412] [ 0.38600143 -0.07233955 0.91965748 0.85041114] [ 0. 0. 0. 1. ]] SLAMing on 118.78538474999999 meters Centerline goodness : 0.929272 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.9167611 -0.08092922 -0.39115158 9.55228218] [ 0.10272289 0.99409127 0.03507929 -0.20525412] [ 0.38600143 -0.07233955 0.91965748 0.85041114] [ 0. 0. 0. 1. ]] SLAMing on 118.81538474999999 meters Centerline goodness : 0.928299 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.21, Z:0.85 [[ 0.91660568 -0.08123401 -0.39145251 9.55342829] [ 0.10303529 0.99406261 0.03497497 -0.205445 ] [ 0.38628714 -0.07239168 0.91953341 0.8505847 ] [ 0. 0. 0. 1. ]] SLAMing on 118.84538475 meters Centerline goodness : 0.924928 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91642856 -0.08189023 -0.39173038 9.55550142] [ 0.10363084 0.99401236 0.0346421 -0.20552733] [ 0.38654799 -0.07234236 0.91942767 0.85032636] [ 0. 0. 0. 1. ]] SLAMing on 118.87538475 meters Centerline goodness : 0.925613 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91632542 -0.08205252 -0.39193762 9.55617388] [ 0.10388314 0.99398116 0.03478131 -0.20574729] [ 0.38672472 -0.0725867 0.91933409 0.85073656] [ 0. 0. 0. 1. ]] SLAMing on 118.90538475 meters Centerline goodness : 0.924133 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91616493 -0.08233534 -0.39225337 9.55686152] [ 0.10419108 0.99395109 0.03471967 -0.20600653] [ 0.38702201 -0.07267824 0.91920174 0.8512714 ] [ 0. 0. 0. 1. ]] SLAMing on 118.93538475 meters Centerline goodness : 0.921612 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91608919 -0.08246206 -0.39240362 9.55721527] [ 0.10428371 0.99394615 0.0345826 -0.20612622] [ 0.38717631 -0.07260205 0.91914278 0.85141816] [ 0. 0. 0. 1. ]] SLAMing on 118.96538474999998 meters Centerline goodness : 0.924262 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91593944 -0.082754 -0.39269164 9.55806266] [ 0.10464872 0.99390585 0.03463837 -0.20601763] [ 0.38743205 -0.07282132 0.91901766 0.85200476] [ 0. 0. 0. 1. ]] SLAMing on 118.99538474999999 meters Centerline goodness : 0.925070 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.85 [[ 0.91570231 -0.08289989 -0.39321353 9.55821168] [ 0.10512791 0.99383228 0.035292 -0.20649127] [ 0.3878626 -0.07365468 0.91876961 0.85398689] [ 0. 0. 0. 1. ]] SLAMing on 119.02538474999999 meters Centerline goodness : 0.928901 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.21, Z:0.86 [[ 0.91522847 -0.08408937 -0.39406323 9.55903189] [ 0.10673822 0.9936399 0.03587066 -0.2067069 ] [ 0.38854061 -0.07489145 0.91838307 0.85738992] [ 0. 0. 0. 1. ]] SLAMing on 119.05538474999999 meters Centerline goodness : 0.922546 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.20, Z:0.86 [[ 0.91493913 -0.08501286 -0.3945367 9.56100723] [ 0.10752091 0.99357765 0.03525202 -0.20432603] [ 0.38900598 -0.0746744 0.91820373 0.85746142] [ 0. 0. 0. 1. ]] SLAMing on 119.08538474999999 meters Centerline goodness : 0.923680 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.20, Z:0.86 [[ 0.91469955 -0.082065 -0.39571464 9.56511641] [ 0.10542791 0.99371521 0.03761707 -0.20099048] [ 0.39014061 -0.07612769 0.91760279 0.85731734] [ 0. 0. 0. 1. ]] SLAMing on 119.11538474999999 meters Centerline goodness : 0.920207 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.20, Z:0.86 [[ 0.91452528 -0.07827983 -0.39688258 9.56803708] [ 0.10285241 0.99385229 0.04097572 -0.20013617] [ 0.39123509 -0.07829366 0.91695431 0.85825065] [ 0. 0. 0. 1. ]] SLAMing on 119.14538474999999 meters Centerline goodness : 0.914396 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.20, Z:0.86 [[ 0.91460238 -0.07776328 -0.39680645 9.56737233] [ 0.10197536 0.99397222 0.04025227 -0.19721648] [ 0.39128444 -0.07727931 0.9170193 0.85713176] [ 0. 0. 0. 1. ]] SLAMing on 119.17538474999999 meters Centerline goodness : 0.916438 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.20, Z:0.86 [[ 0.91457443 -0.07764621 -0.39689379 9.56717411] [ 0.10170595 0.99401401 0.03990044 -0.19566454] [ 0.39141987 -0.07685838 0.91699688 0.85698548] [ 0. 0. 0. 1. ]] SLAMing on 119.20538475 meters Centerline goodness : 0.914297 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.9145133 -0.07774101 -0.39701607 9.56654132] [ 0.10170078 0.99402572 0.03962096 -0.19429221] [ 0.39156401 -0.07661074 0.91695606 0.85742361] [ 0. 0. 0. 1. ]] SLAMing on 119.23538475 meters Centerline goodness : 0.910170 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91436233 -0.07872255 -0.39717035 9.56875055] [ 0.10235198 0.99399847 0.03861493 -0.19243114] [ 0.39174686 -0.07595921 0.91693217 0.8563505 ] [ 0. 0. 0. 1. ]] SLAMing on 119.26538475 meters Centerline goodness : 0.908477 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91423722 -0.0792036 -0.39736268 9.57010118] [ 0.10272009 0.99397607 0.03821207 -0.19155498] [ 0.39194246 -0.07575203 0.91686571 0.8560714 ] [ 0. 0. 0. 1. ]] SLAMing on 119.29538475 meters Centerline goodness : 0.908489 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91417679 -0.0793442 -0.39747363 9.57062292] [ 0.1028146 0.99397242 0.03805229 -0.19105605] [ 0.3920586 -0.07565261 0.91682427 0.85598406] [ 0. 0. 0. 1. ]] SLAMing on 119.32538475 meters Centerline goodness : 0.910302 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91407983 -0.07914584 -0.39773609 9.5703842 ] [ 0.10281418 0.99395522 0.03850029 -0.19106248] [ 0.39228473 -0.07608525 0.91669173 0.85707313] [ 0. 0. 0. 1. ]] SLAMing on 119.35538474999998 meters Centerline goodness : 0.909298 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.9140708 -0.07901038 -0.39778378 9.57006016] [ 0.10270609 0.99396323 0.03858183 -0.19108603] [ 0.39233409 -0.07612134 0.91666761 0.85736367] [ 0. 0. 0. 1. ]] SLAMing on 119.38538474999999 meters Centerline goodness : 0.914187 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91416173 -0.07835166 -0.39770511 9.56813958] [ 0.10210206 0.99401459 0.03886071 -0.1904023 ] [ 0.39227988 -0.07613149 0.91668997 0.85800791] [ 0. 0. 0. 1. ]] SLAMing on 119.41538474999999 meters Centerline goodness : 0.916792 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91428909 -0.07771237 -0.39753773 9.56646304] [ 0.1014787 0.99407047 0.03906368 -0.18953861] [ 0.39214479 -0.07605711 0.91675394 0.85824506] [ 0. 0. 0. 1. ]] SLAMing on 119.44538474999999 meters Centerline goodness : 0.918661 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91398431 -0.07862849 -0.39805809 9.56799877] [ 0.10242007 0.99398324 0.03882583 -0.18961158] [ 0.39261026 -0.07625534 0.91653822 0.85916295] [ 0. 0. 0. 1. ]] SLAMing on 119.47538474999999 meters Centerline goodness : 0.920824 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91376504 -0.07978449 -0.39833138 9.56940839] [ 0.10357604 0.9938749 0.03853165 -0.18958035] [ 0.39281733 -0.07646646 0.9164319 0.8598561 ] [ 0. 0. 0. 1. ]] SLAMing on 119.50538474999999 meters Centerline goodness : 0.918130 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.19, Z:0.86 [[ 0.91288589 -0.0832176 -0.39964256 9.57452706] [ 0.1071846 0.99351431 0.03795752 -0.18851277] [ 0.39389187 -0.07748641 0.91588484 0.86279514] [ 0. 0. 0. 1. ]] SLAMing on 119.53538474999999 meters Centerline goodness : 0.920196 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.9125428 -0.08453917 -0.40014843 9.57720417] [ 0.10831581 0.99342269 0.03713543 -0.18728013] [ 0.39437713 -0.07723007 0.91569765 0.86271805] [ 0. 0. 0. 1. ]] SLAMing on 119.56538474999999 meters Centerline goodness : 0.916173 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.91233224 -0.08541767 -0.40044188 9.57953109] [ 0.10893813 0.99338561 0.03629762 -0.18509322] [ 0.39469275 -0.07673887 0.91560296 0.86199542] [ 0. 0. 0. 1. ]] SLAMing on 119.59538475 meters Centerline goodness : 0.916659 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91233517 -0.08543956 -0.40043054 9.57999875] [ 0.10885254 0.99340415 0.03604618 -0.18359094] [ 0.39470959 -0.07647408 0.91561786 0.86151431] [ 0. 0. 0. 1. ]] SLAMing on 119.62538475 meters Centerline goodness : 0.915917 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91253943 -0.08417169 -0.40023358 9.57871803] [ 0.10755703 0.99353656 0.03628475 -0.182019 ] [ 0.39459254 -0.0761592 0.91569454 0.86087323] [ 0. 0. 0. 1. ]] SLAMing on 119.65538475 meters Centerline goodness : 0.916403 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91250631 -0.08377386 -0.40039253 9.57856148] [ 0.10719247 0.99357136 0.0364105 -0.18143911] [ 0.3947683 -0.07614388 0.91562006 0.86111385] [ 0. 0. 0. 1. ]] SLAMing on 119.68538475 meters Centerline goodness : 0.916376 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91281037 -0.08210133 -0.40004575 9.57639845] [ 0.10554801 0.99372961 0.03689278 -0.18074015] [ 0.39450836 -0.07590015 0.91575232 0.86052628] [ 0. 0. 0. 1. ]] SLAMing on 119.71538474999998 meters Centerline goodness : 0.915437 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91265294 -0.08224492 -0.4003753 9.57704145] [ 0.10583916 0.99368957 0.03713642 -0.18174403] [ 0.39479448 -0.07626805 0.91559844 0.86141145] [ 0. 0. 0. 1. ]] SLAMing on 119.74538474999999 meters Centerline goodness : 0.915643 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91267737 -0.08188105 -0.40039419 9.57655765] [ 0.10564976 0.99369184 0.03761196 -0.1837365 ] [ 0.39478873 -0.07662913 0.91557077 0.86202997] [ 0. 0. 0. 1. ]] SLAMing on 119.77538474999999 meters Centerline goodness : 0.915856 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.18, Z:0.86 [[ 0.91241154 -0.08674549 -0.3999755 9.57733506] [ 0.10926126 0.9934386 0.03378934 -0.18478572] [ 0.39442003 -0.07453161 0.91590277 0.86126591] [ 0. 0. 0. 1. ]] SLAMing on 119.80538474999999 meters Centerline goodness : 0.915822 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.91222456 -0.08737419 -0.40026503 9.5792519 ] [ 0.10996009 0.9933624 0.03376277 -0.18602545] [ 0.39465824 -0.0748124 0.91577725 0.86144637] [ 0. 0. 0. 1. ]] SLAMing on 119.83538474999999 meters Centerline goodness : 0.915004 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.91197836 -0.08813343 -0.40065942 9.58134366] [ 0.11084639 0.99326197 0.03381907 -0.18759254] [ 0.39497918 -0.07525391 0.9156027 0.86201834] [ 0. 0. 0. 1. ]] SLAMing on 119.86538474999999 meters Centerline goodness : 0.916540 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.91170442 -0.0886942 -0.40115881 9.58340021] [ 0.11189603 0.99311279 0.03473128 -0.19106591] [ 0.39531549 -0.07655274 0.91534985 0.8637135 ] [ 0. 0. 0. 1. ]] SLAMing on 119.89538474999999 meters Centerline goodness : 0.916829 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.19, Z:0.86 [[ 0.91157921 -0.08881266 -0.40141707 9.5842721 ] [ 0.11223156 0.99306003 0.03515459 -0.19294136] [ 0.39550907 -0.07709786 0.91522046 0.86447172] [ 0. 0. 0. 1. ]] SLAMing on 119.92538474999999 meters Centerline goodness : 0.918154 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.20, Z:0.86 [[ 0.91118641 -0.09385748 -0.40116094 9.58475758] [ 0.11623337 0.99271435 0.03174936 -0.19512259] [ 0.39525831 -0.07555787 0.9154572 0.86499816] [ 0. 0. 0. 1. ]] SLAMing on 119.95538475 meters Centerline goodness : 0.921007 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.20, Z:0.87 [[ 0.91100578 -0.0941669 -0.40149851 9.58581383] [ 0.11664718 0.99266238 0.03185646 -0.19637057] [ 0.39555265 -0.07585509 0.91530547 0.86563666] [ 0. 0. 0. 1. ]] SLAMing on 119.98538475 meters Centerline goodness : 0.919909 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.20, Z:0.87 [[ 0.91079785 -0.09486433 -0.40180597 9.58747491] [ 0.11752018 0.99255306 0.03205341 -0.19832936] [ 0.39577302 -0.07641449 0.91516367 0.86647765] [ 0. 0. 0. 1. ]] SLAMing on 120.01538475 meters Centerline goodness : 0.922790 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.20, Z:0.87 [[ 0.91050384 -0.09636773 -0.40211444 9.59017086] [ 0.11902883 0.992385 0.0316883 -0.19967618] [ 0.39599861 -0.07671553 0.91504089 0.86692739] [ 0. 0. 0. 1. ]] SLAMing on 120.04538475 meters Centerline goodness : 0.921782 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.20, Z:0.87 [[ 0.91037811 -0.09675188 -0.40230682 9.59166484] [ 0.11936288 0.99235239 0.0314521 -0.19939875] [ 0.39618708 -0.0766538 0.91496447 0.86665883] [ 0. 0. 0. 1. ]] SLAMing on 120.07538475 meters Centerline goodness : 0.919358 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.20, Z:0.87 [[ 0.91017777 -0.09723618 -0.40264321 9.59357399] [ 0.11983752 0.99230132 0.03125808 -0.19966858] [ 0.39650397 -0.07670217 0.91482314 0.86661463] [ 0. 0. 0. 1. ]] SLAMing on 120.10538474999998 meters Centerline goodness : 0.918104 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.20, Z:0.87 [[ 0.90976146 -0.09817242 -0.40335625 9.59596531] [ 0.12106056 0.99214288 0.03157297 -0.20232085] [ 0.39708743 -0.0775544 0.91449816 0.8683801 ] [ 0. 0. 0. 1. ]] SLAMing on 120.13538474999999 meters Centerline goodness : 0.915498 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.20, Z:0.87 [[ 0.90966708 -0.09821199 -0.40355942 9.59624557] [ 0.12122305 0.99211564 0.0318044 -0.20339123] [ 0.39725404 -0.07785212 0.9144005 0.86905419] [ 0. 0. 0. 1. ]] SLAMing on 120.16538474999999 meters Centerline goodness : 0.917308 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.20, Z:0.87 [[ 0.90945983 -0.09865274 -0.40391888 9.59806967] [ 0.12183421 0.9920336 0.03202744 -0.20480934] [ 0.39754151 -0.07833881 0.91423399 0.86967819] [ 0. 0. 0. 1. ]] SLAMing on 120.19538474999999 meters Centerline goodness : 0.918620 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.20, Z:0.87 [[ 0.9093647 -0.09936174 -0.40395927 9.60023844] [ 0.12244622 0.99197044 0.03164765 -0.2047403 ] [ 0.39757108 -0.07824254 0.91422937 0.86891809] [ 0. 0. 0. 1. ]] SLAMing on 120.22538474999999 meters Centerline goodness : 0.914262 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90928684 -0.09948358 -0.40410451 9.60087601] [ 0.12259493 0.99195191 0.03165278 -0.20519478] [ 0.39770331 -0.07832262 0.914165 0.86902288] [ 0. 0. 0. 1. ]] SLAMing on 120.25538474999999 meters Centerline goodness : 0.919940 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90913846 -0.09966386 -0.40439384 9.60154194] [ 0.12292418 0.9919034 0.03189508 -0.20587006] [ 0.39794084 -0.07870683 0.91402862 0.86996516] [ 0. 0. 0. 1. ]] SLAMing on 120.28538474999999 meters Centerline goodness : 0.920673 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90906772 -0.0993701 -0.40462509 9.60137115] [ 0.12284722 0.99189643 0.03240432 -0.20556335] [ 0.39812616 -0.07916479 0.91390836 0.87088402] [ 0. 0. 0. 1. ]] SLAMing on 120.31538474999999 meters Centerline goodness : 0.923072 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90912262 -0.09934798 -0.40450717 9.60124829] [ 0.12279296 0.99190457 0.03236072 -0.20543453] [ 0.39801754 -0.07909049 0.91396211 0.87067503] [ 0. 0. 0. 1. ]] SLAMing on 120.34538475 meters Centerline goodness : 0.922832 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90897766 -0.09960141 -0.40477051 9.60174896] [ 0.12315066 0.991856 0.03248986 -0.20597121] [ 0.39823802 -0.07938031 0.91384093 0.87143775] [ 0. 0. 0. 1. ]] SLAMing on 120.37538475 meters Centerline goodness : 0.922078 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90883824 -0.09995353 -0.40499672 9.60245903] [ 0.12356609 0.9918036 0.03251216 -0.20633178] [ 0.3984275 -0.07959215 0.91373991 0.87194946] [ 0. 0. 0. 1. ]] SLAMing on 120.40538475 meters Centerline goodness : 0.922439 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90873184 -0.10005005 -0.40521158 9.60319616] [ 0.12386081 0.99175407 0.03289941 -0.20618755] [ 0.39857865 -0.08008657 0.91363078 0.87268321] [ 0. 0. 0. 1. ]] SLAMing on 120.43538475 meters Centerline goodness : 0.926162 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.87 [[ 0.90845291 -0.10039476 -0.40575141 9.60368348] [ 0.12460424 0.99163672 0.03362146 -0.20728626] [ 0.39898258 -0.08110186 0.91336487 0.87494525] [ 0. 0. 0. 1. ]] SLAMing on 120.46538474999998 meters Centerline goodness : 0.927624 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.21, Z:0.88 [[ 0.90831171 -0.1004799 -0.40604633 9.60369562] [ 0.12499223 0.99156703 0.03423096 -0.20770673] [ 0.39918263 -0.08184502 0.91321116 0.8764634 ] [ 0. 0. 0. 1. ]] SLAMing on 120.49538474999999 meters Centerline goodness : 0.923125 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.87 [[ 0.90818599 -0.10133464 -0.40611512 9.60581459] [ 0.12543711 0.99154929 0.03309883 -0.20383326] [ 0.3993291 -0.0810018 0.9132223 0.8748224 ] [ 0. 0. 0. 1. ]] SLAMing on 120.52538474999999 meters Centerline goodness : 0.921506 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.87 [[ 0.90819051 -0.10134726 -0.40610187 9.60588751] [ 0.12537928 0.99156196 0.032938 -0.20284942] [ 0.39933699 -0.08083074 0.91323401 0.87459967] [ 0. 0. 0. 1. ]] SLAMing on 120.55538474999999 meters Centerline goodness : 0.920950 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90806377 -0.09724719 -0.40738577 9.60814429] [ 0.122767 0.99174902 0.03690717 -0.20229411] [ 0.40043532 -0.08352759 0.91251011 0.87660775] [ 0. 0. 0. 1. ]] SLAMing on 120.58538474999999 meters Centerline goodness : 0.922542 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90810436 -0.09728577 -0.40728608 9.60814801] [ 0.12267547 0.9917708 0.03662522 -0.20096965] [ 0.40037133 -0.08322354 0.91256597 0.87611435] [ 0. 0. 0. 1. ]] SLAMing on 120.61538474999999 meters Centerline goodness : 0.923919 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90831156 -0.09664425 -0.40697665 9.60660852] [ 0.12194756 0.99186028 0.03663302 -0.20022593] [ 0.4001236 -0.082904 0.91270369 0.8756985 ] [ 0. 0. 0. 1. ]] SLAMing on 120.64538474999999 meters Centerline goodness : 0.925084 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90812136 -0.0967411 -0.40737791 9.60695266] [ 0.12211993 0.99183682 0.03669401 -0.20007129] [ 0.40050259 -0.08307158 0.91252221 0.87657952] [ 0. 0. 0. 1. ]] SLAMing on 120.67538474999999 meters Centerline goodness : 0.928574 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90818162 -0.09653116 -0.40729337 9.60631677] [ 0.12189761 0.99186287 0.03672905 -0.19943642] [ 0.40043367 -0.08300473 0.91255854 0.8766554 ] [ 0. 0. 0. 1. ]] SLAMing on 120.70538475 meters Centerline goodness : 0.928574 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90818162 -0.09653116 -0.40729337 9.60631677] [ 0.12189761 0.99186287 0.03672905 -0.19943642] [ 0.40043367 -0.08300473 0.91255854 0.8766554 ] [ 0. 0. 0. 1. ]] SLAMing on 120.73538475 meters Centerline goodness : 0.925503 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90789389 -0.09717954 -0.40778035 9.60789845] [ 0.12263225 0.99177416 0.03667885 -0.19924368] [ 0.40086158 -0.08330752 0.91234305 0.87747423] [ 0. 0. 0. 1. ]] SLAMing on 120.76538475 meters Centerline goodness : 0.929050 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90783748 -0.09737557 -0.40785918 9.60841404] [ 0.12289684 0.99173782 0.03677575 -0.19867951] [ 0.40090832 -0.083511 0.91230391 0.87774524] [ 0. 0. 0. 1. ]] SLAMing on 120.79538475 meters Centerline goodness : 0.931023 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90783108 -0.09763047 -0.40781249 9.60902392] [ 0.12306837 0.99172516 0.03654301 -0.19810003] [ 0.4008702 -0.0833637 0.91233414 0.87733338] [ 0. 0. 0. 1. ]] SLAMing on 120.82538475 meters Centerline goodness : 0.931542 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.9078555 -0.09733229 -0.4078294 9.60832185] [ 0.12286234 0.99174077 0.0368116 -0.1984065 ] [ 0.40087808 -0.08352648 0.91231578 0.87781868] [ 0. 0. 0. 1. ]] SLAMing on 120.85538474999998 meters Centerline goodness : 0.936070 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90784638 -0.09729293 -0.40785909 9.60817687] [ 0.12283599 0.99174288 0.03684272 -0.19842077] [ 0.40090681 -0.0835473 0.91230125 0.87804035] [ 0. 0. 0. 1. ]] SLAMing on 120.88538474999999 meters Centerline goodness : 0.934954 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90766663 -0.09752005 -0.40820477 9.60855655] [ 0.12301228 0.99172999 0.03660072 -0.19741951] [ 0.4012596 -0.08343545 0.91215638 0.87855159] [ 0. 0. 0. 1. ]] SLAMing on 120.91538474999999 meters Centerline goodness : 0.934292 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.20, Z:0.88 [[ 0.90764847 -0.09761533 -0.40822236 9.60863772] [ 0.12301926 0.99173739 0.03637593 -0.19649606] [ 0.40129853 -0.08323577 0.91215749 0.87838205] [ 0. 0. 0. 1. ]] SLAMing on 120.94538474999999 meters Centerline goodness : 0.934318 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90760773 -0.09754036 -0.40833085 9.60871895] [ 0.12288085 0.99176015 0.03622299 -0.19469939] [ 0.40143306 -0.08305231 0.91211502 0.87826588] [ 0. 0. 0. 1. ]] SLAMing on 120.97538474999999 meters Centerline goodness : 0.932084 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90765239 -0.09759793 -0.40821781 9.60869737] [ 0.12278047 0.99178514 0.03587744 -0.19331108] [ 0.40136279 -0.08268542 0.91217928 0.87772317] [ 0. 0. 0. 1. ]] SLAMing on 121.00538474999999 meters Centerline goodness : 0.932392 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90759445 -0.09340082 -0.40932702 9.61045029] [ 0.11981415 0.99201811 0.03930195 -0.1915444 ] [ 0.40238898 -0.0847134 0.91154087 0.8787613 ] [ 0. 0. 0. 1. ]] SLAMing on 121.03538474999999 meters Centerline goodness : 0.932387 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90765685 -0.09315431 -0.40924482 9.6099733 ] [ 0.11944938 0.99206988 0.03910486 -0.19032048] [ 0.40235668 -0.08437783 0.91158625 0.87837576] [ 0. 0. 0. 1. ]] SLAMing on 121.06538474999999 meters Centerline goodness : 0.931390 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90756491 -0.09352611 -0.4093639 9.61026379] [ 0.11957083 0.99208154 0.0384322 -0.18755584] [ 0.40252795 -0.08382769 0.91156139 0.87809079] [ 0. 0. 0. 1. ]] SLAMing on 121.09538475 meters Centerline goodness : 0.933331 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.19, Z:0.88 [[ 0.90746126 -0.09380303 -0.40953027 9.61085551] [ 0.11970514 0.99208149 0.03801313 -0.18531164] [ 0.40272166 -0.08351832 0.91150423 0.87790786] [ 0. 0. 0. 1. ]] SLAMing on 121.12538475 meters Centerline goodness : 0.929843 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.18, Z:0.88 [[ 0.90759443 -0.09264209 -0.40949944 9.61015762] [ 0.11843214 0.99223432 0.03801149 -0.18135082] [ 0.40279794 -0.08299692 0.91151815 0.87683348] [ 0. 0. 0. 1. ]] SLAMing on 121.15538475 meters Centerline goodness : 0.928665 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.18, Z:0.88 [[ 0.90763874 -0.09269614 -0.40938899 9.61015484] [ 0.1182607 0.99227368 0.03751457 -0.17973785] [ 0.40274846 -0.08246431 0.91158835 0.87611364] [ 0. 0. 0. 1. ]] SLAMing on 121.18538475 meters Centerline goodness : 0.931569 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.18, Z:0.88 [[ 0.90767559 -0.09207202 -0.40944813 9.60923898] [ 0.11743746 0.99238395 0.03718254 -0.17713092] [ 0.40290628 -0.08183423 0.91157539 0.87566256] [ 0. 0. 0. 1. ]] SLAMing on 121.21538474999998 meters Centerline goodness : 0.931621 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.18, Z:0.88 [[ 0.90764122 -0.09202979 -0.4095338 9.60929862] [ 0.11725169 0.9924184 0.03684778 -0.17545391] [ 0.40303778 -0.08146309 0.9115505 0.87538923] [ 0. 0. 0. 1. ]] SLAMing on 121.24538474999999 meters Centerline goodness : 0.931783 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.88 [[ 0.90748827 -0.0924339 -0.40978166 9.60987575] [ 0.11751808 0.99240355 0.03639634 -0.17470324] [ 0.40330452 -0.08118601 0.91145724 0.87554392] [ 0. 0. 0. 1. ]] SLAMing on 121.27538474999999 meters Centerline goodness : 0.930649 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.9074651 -0.09238463 -0.40984407 9.61014944] [ 0.11720842 0.99246169 0.03580472 -0.17314441] [ 0.40344674 -0.08052871 0.91145261 0.87474796] [ 0. 0. 0. 1. ]] SLAMing on 121.30538474999999 meters Centerline goodness : 0.924383 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.90735999 -0.0927707 -0.40998956 9.6114445 ] [ 0.11745227 0.99244845 0.03537005 -0.17244945] [ 0.4036122 -0.08024757 0.91140415 0.87423176] [ 0. 0. 0. 1. ]] SLAMing on 121.33538474999999 meters Centerline goodness : 0.923674 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.9072706 -0.09313781 -0.41010413 9.61255279] [ 0.11765821 0.99244057 0.03490355 -0.17199043] [ 0.40375314 -0.07991908 0.91137058 0.87370375] [ 0. 0. 0. 1. ]] SLAMing on 121.36538474999999 meters Centerline goodness : 0.924010 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.90724409 -0.093173 -0.41015479 9.61287507] [ 0.11771678 0.99243242 0.03493792 -0.17233694] [ 0.40379564 -0.07997932 0.91134647 0.87374148] [ 0. 0. 0. 1. ]] SLAMing on 121.39538474999999 meters Centerline goodness : 0.923592 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.90716293 -0.09330294 -0.41030474 9.61348868] [ 0.11787074 0.99241435 0.03493207 -0.17278037] [ 0.40393304 -0.080052 0.9112792 0.87387897] [ 0. 0. 0. 1. ]] SLAMing on 121.42538474999999 meters Centerline goodness : 0.924766 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.17, Z:0.87 [[ 0.90704173 -0.09352391 -0.41052232 9.61439984] [ 0.11818317 0.99237324 0.03504423 -0.17403355] [ 0.40411389 -0.08030341 0.91117689 0.87427951] [ 0. 0. 0. 1. ]] SLAMing on 121.45538475 meters Centerline goodness : 0.924628 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.17, Z:0.87 [[ 0.90687141 -0.09377788 -0.41084056 9.61526048] [ 0.11849505 0.99233578 0.03505164 -0.17474672] [ 0.40440472 -0.0804699 0.91103316 0.87476504] [ 0. 0. 0. 1. ]] SLAMing on 121.48538475 meters Centerline goodness : 0.922030 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.88 [[ 0.90674815 -0.09403198 -0.41105447 9.61630461] [ 0.11883427 0.992292 0.03514272 -0.17613213] [ 0.40458152 -0.08071295 0.91093316 0.87509838] [ 0. 0. 0. 1. ]] SLAMing on 121.51538475 meters Centerline goodness : 0.926138 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90673057 -0.09426584 -0.41103969 9.61704437] [ 0.11900504 0.99227819 0.03495423 -0.17620007] [ 0.40457073 -0.08060986 0.91094708 0.87473753] [ 0. 0. 0. 1. ]] SLAMing on 121.54538475 meters Centerline goodness : 0.920656 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90676251 -0.09412595 -0.41100128 9.61713235] [ 0.11888771 0.99228912 0.03504311 -0.1768734 ] [ 0.40453363 -0.08063878 0.91096099 0.87461179] [ 0. 0. 0. 1. ]] SLAMing on 121.57538475 meters Centerline goodness : 0.924070 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.9067242 -0.093943 -0.41112765 9.61727792] [ 0.11875002 0.9923016 0.03515629 -0.17705339] [ 0.40465993 -0.08069848 0.91089961 0.87477742] [ 0. 0. 0. 1. ]] SLAMing on 121.60538474999998 meters Centerline goodness : 0.923197 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90665901 -0.09422736 -0.41120632 9.61820734] [ 0.11893655 0.99228976 0.03485855 -0.17726839] [ 0.40475119 -0.08051228 0.91087554 0.87442321] [ 0. 0. 0. 1. ]] SLAMing on 121.63538474999999 meters Centerline goodness : 0.923605 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90663395 -0.09455342 -0.41118673 9.61920753] [ 0.11914359 0.99227657 0.03452563 -0.17704992] [ 0.40474644 -0.08029237 0.91089706 0.87382479] [ 0. 0. 0. 1. ]] SLAMing on 121.66538474999999 meters Centerline goodness : 0.915344 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90661579 -0.09473811 -0.41118427 9.62020367] [ 0.11928927 0.99226346 0.03439909 -0.17786135] [ 0.40474423 -0.08023663 0.91090296 0.87338662] [ 0. 0. 0. 1. ]] SLAMing on 121.69538474999999 meters Centerline goodness : 0.917218 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90647184 -0.09486155 -0.41147307 9.62102049] [ 0.11953588 0.99222724 0.0345872 -0.17904474] [ 0.40499379 -0.08053812 0.91076541 0.87397843] [ 0. 0. 0. 1. ]] SLAMing on 121.72538474999999 meters Centerline goodness : 0.918246 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.90643247 -0.09906775 -0.41056762 9.61980178] [ 0.12248726 0.9919839 0.03106142 -0.18053144] [ 0.40419928 -0.07844438 0.91130095 0.8730589 ] [ 0. 0. 0. 1. ]] SLAMing on 121.75538474999999 meters Centerline goodness : 0.918476 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.18, Z:0.87 [[ 0.9062516 -0.09970241 -0.41081318 9.62146154] [ 0.12339252 0.99185838 0.03148388 -0.18401677] [ 0.40432948 -0.07922359 0.91117578 0.87403141] [ 0. 0. 0. 1. ]] SLAMing on 121.78538474999999 meters Centerline goodness : 0.920663 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.19, Z:0.88 [[ 0.90577197 -0.10056071 -0.41166088 9.62377181] [ 0.12477564 0.99165912 0.03229922 -0.18668585] [ 0.40497923 -0.08062098 0.91076456 0.87660533] [ 0. 0. 0. 1. ]] SLAMing on 121.81538474999999 meters Centerline goodness : 0.926766 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90520022 -0.10685159 -0.41133357 9.62585483] [ 0.12975236 0.99114904 0.02806971 -0.18765641] [ 0.40469358 -0.07878021 0.91105257 0.87646331] [ 0. 0. 0. 1. ]] SLAMing on 121.84538475 meters Centerline goodness : 0.920900 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90502107 -0.10757994 -0.41153788 9.62841631] [ 0.13034376 0.99108568 0.02756226 -0.18769763] [ 0.40490415 -0.07858582 0.91097579 0.87568485] [ 0. 0. 0. 1. ]] SLAMing on 121.87538475 meters Centerline goodness : 0.915682 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90449758 -0.10953033 -0.41217379 9.63340997] [ 0.13215395 0.9908697 0.02669419 -0.18862717] [ 0.4054867 -0.07861523 0.91071411 0.87543413] [ 0. 0. 0. 1. ]] SLAMing on 121.90538475 meters Centerline goodness : 0.917468 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90431932 -0.10958852 -0.4125493 9.63430639] [ 0.13242408 0.99082323 0.0270775 -0.1899403 ] [ 0.40579605 -0.07911817 0.91053275 0.87630874] [ 0. 0. 0. 1. ]] SLAMing on 121.93538475 meters Centerline goodness : 0.916123 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.19, Z:0.88 [[ 0.90412644 -0.10983413 -0.41290657 9.63521574] [ 0.13286912 0.99075491 0.02739549 -0.19133263] [ 0.40608025 -0.07963152 0.91036128 0.87723689] [ 0. 0. 0. 1. ]] SLAMing on 121.96538474999998 meters Centerline goodness : 0.913209 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.19, Z:0.88 [[ 0.90377432 -0.11500944 -0.41226788 9.63545406] [ 0.13672399 0.99033144 0.02345601 -0.19147295] [ 0.40558418 -0.07756585 0.91076068 0.87663116] [ 0. 0. 0. 1. ]] SLAMing on 121.99538474999999 meters Centerline goodness : 0.919390 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.19, Z:0.88 [[ 0.90331118 -0.11487424 -0.41331926 9.63537354] [ 0.13755661 0.99016735 0.0254324 -0.19372374] [ 0.40633371 -0.07982816 0.91023095 0.8813019 ] [ 0. 0. 0. 1. ]] SLAMing on 122.02538474999999 meters Centerline goodness : 0.919219 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.19, Z:0.88 [[ 0.90329455 -0.1147001 -0.41340397 9.63544019] [ 0.13751141 0.99016566 0.02574047 -0.19325987] [ 0.40638598 -0.08009899 0.91018382 0.88164807] [ 0. 0. 0. 1. ]] SLAMing on 122.05538474999999 meters Centerline goodness : 0.918431 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90334141 -0.11435817 -0.41339631 9.63387851] [ 0.13741624 0.99016235 0.02636846 -0.19255935] [ 0.40631402 -0.08062709 0.91016932 0.88289523] [ 0. 0. 0. 1. ]] SLAMing on 122.08538474999999 meters Centerline goodness : 0.921183 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90346486 -0.10941625 -0.4144627 9.63460187] [ 0.1341018 0.99048765 0.03083709 -0.19359343] [ 0.40714611 -0.08344042 0.9095437 0.88489873] [ 0. 0. 0. 1. ]] SLAMing on 122.11538474999999 meters Centerline goodness : 0.918981 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90359891 -0.10877516 -0.4143392 9.63327302] [ 0.13338602 0.99058433 0.03083583 -0.1916596 ] [ 0.40708374 -0.08313028 0.90960001 0.88464795] [ 0. 0. 0. 1. ]] SLAMing on 122.14538474999999 meters Centerline goodness : 0.919820 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.9036869 -0.10862491 -0.41418669 9.63302423] [ 0.1331174 0.99062661 0.0306377 -0.19033422] [ 0.40697634 -0.08282234 0.90967616 0.88409726] [ 0. 0. 0. 1. ]] SLAMing on 122.17538474999999 meters Centerline goodness : 0.914435 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90383376 -0.10812535 -0.41399691 9.63221702] [ 0.1324671 0.99071956 0.03045033 -0.18847083] [ 0.40686238 -0.082363 0.90976884 0.88338549] [ 0. 0. 0. 1. ]] SLAMing on 122.20538475 meters Centerline goodness : 0.913868 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90367583 -0.10828805 -0.41429904 9.63259245] [ 0.13259562 0.99070783 0.03027194 -0.18710481] [ 0.40717122 -0.08229026 0.90963724 0.88380212] [ 0. 0. 0. 1. ]] SLAMing on 122.23538475 meters Centerline goodness : 0.915097 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.19, Z:0.88 [[ 0.90363783 -0.10818231 -0.41440953 9.63278384] [ 0.13240902 0.99073834 0.03008964 -0.18592187] [ 0.40731624 -0.0820617 0.90959296 0.88365394] [ 0. 0. 0. 1. ]] SLAMing on 122.26538475 meters Centerline goodness : 0.917255 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.18, Z:0.88 [[ 0.9034958 -0.10850084 -0.41463587 9.63398532] [ 0.13265063 0.99071479 0.02979942 -0.18496029] [ 0.40755262 -0.08192536 0.90949936 0.88347434] [ 0. 0. 0. 1. ]] SLAMing on 122.29538475 meters Centerline goodness : 0.914757 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90331568 -0.10925286 -0.41483081 9.63628779] [ 0.13313353 0.99067392 0.02899409 -0.18367671] [ 0.40779438 -0.08141871 0.90943649 0.88244065] [ 0. 0. 0. 1. ]] SLAMing on 122.32538475 meters Centerline goodness : 0.915272 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90302359 -0.11002566 -0.41526226 9.63850697] [ 0.13376273 0.990606 0.02841293 -0.18249434] [ 0.40823513 -0.08120416 0.90925792 0.88226586] [ 0. 0. 0. 1. ]] SLAMing on 122.35538474999998 meters Centerline goodness : 0.910490 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90278919 -0.11110459 -0.4154846 9.641112 ] [ 0.13451011 0.99053352 0.02739318 -0.18131497] [ 0.40850792 -0.08061715 0.90918764 0.88125179] [ 0. 0. 0. 1. ]] SLAMing on 122.38538474999999 meters Centerline goodness : 0.905857 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90263001 -0.11154001 -0.41571372 9.64238485] [ 0.13486699 0.99049374 0.02707467 -0.18077263] [ 0.40874193 -0.08050447 0.90909244 0.88116965] [ 0. 0. 0. 1. ]] SLAMing on 122.41538474999999 meters Centerline goodness : 0.906030 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90250214 -0.11179595 -0.41592252 9.6430991 ] [ 0.13501596 0.99048264 0.02673633 -0.17978962] [ 0.40897503 -0.08028577 0.90900694 0.88110802] [ 0. 0. 0. 1. ]] SLAMing on 122.44538474999999 meters Centerline goodness : 0.904812 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90237349 -0.11187978 -0.41617905 9.643472 ] [ 0.13508019 0.99047703 0.02661937 -0.178629 ] [ 0.40923762 -0.08023816 0.90889296 0.8813906 ] [ 0. 0. 0. 1. ]] SLAMing on 122.47538474999999 meters Centerline goodness : 0.903589 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.88 [[ 0.90242343 -0.11147796 -0.4161786 9.64248231] [ 0.13471091 0.99052302 0.02677887 -0.17778142] [ 0.40924923 -0.08022968 0.90888848 0.88166915] [ 0. 0. 0. 1. ]] SLAMing on 122.50538474999999 meters Centerline goodness : 0.908159 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.89 [[ 0.90255143 -0.10561239 -0.41742895 9.64087417] [ 0.13089901 0.99086845 0.03232911 -0.17803346] [ 0.41020282 -0.08381973 0.90813429 0.88572282] [ 0. 0. 0. 1. ]] SLAMing on 122.53538474999999 meters Centerline goodness : 0.913128 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.18, Z:0.89 [[ 0.90272218 -0.10483567 -0.4172555 9.63873018] [ 0.13015469 0.99095735 0.03260795 -0.17514592] [ 0.41006393 -0.08374368 0.90820403 0.88593237] [ 0. 0. 0. 1. ]] SLAMing on 122.56538474999999 meters Centerline goodness : 0.915390 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90272178 -0.10477123 -0.41727255 9.63877282] [ 0.13005576 0.99097252 0.03254171 -0.17355531] [ 0.41009619 -0.08364481 0.90819858 0.88575326] [ 0. 0. 0. 1. ]] SLAMing on 122.59538475 meters Centerline goodness : 0.915390 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90272178 -0.10477123 -0.41727255 9.63877282] [ 0.13005576 0.99097252 0.03254171 -0.17355531] [ 0.41009619 -0.08364481 0.90819858 0.88575326] [ 0. 0. 0. 1. ]] SLAMing on 122.62538475 meters Centerline goodness : 0.908746 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90287164 -0.10407455 -0.41712263 9.63677899] [ 0.12943694 0.99104176 0.03289852 -0.17271947] [ 0.40996204 -0.08369422 0.90825459 0.88619868] [ 0. 0. 0. 1. ]] SLAMing on 122.65538475 meters Centerline goodness : 0.910222 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90292599 -0.10405371 -0.41701017 9.63653012] [ 0.12935222 0.99105653 0.03278666 -0.17232764] [ 0.40986907 -0.08354512 0.90831028 0.88600265] [ 0. 0. 0. 1. ]] SLAMing on 122.68538475 meters Centerline goodness : 0.909875 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90285657 -0.10422392 -0.41711795 9.63690093] [ 0.12951222 0.99103839 0.03270312 -0.17184829] [ 0.40997145 -0.0835481 0.9082638 0.88616835] [ 0. 0. 0. 1. ]] SLAMing on 122.71538474999998 meters Centerline goodness : 0.910811 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90276447 -0.10440985 -0.41727076 9.63771696] [ 0.12971215 0.99101367 0.03265969 -0.17236559] [ 0.41011104 -0.0836091 0.90819516 0.88631504] [ 0. 0. 0. 1. ]] SLAMing on 122.74538474999999 meters Centerline goodness : 0.908547 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.9024484 -0.10533541 -0.41772161 9.64022376] [ 0.13044809 0.99094057 0.03193881 -0.17254228] [ 0.410573 -0.08331412 0.90801353 0.88608556] [ 0. 0. 0. 1. ]] SLAMing on 122.77538474999999 meters Centerline goodness : 0.907370 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.17, Z:0.89 [[ 0.90215031 -0.10633155 -0.41811294 9.64298869] [ 0.13128815 0.9908503 0.03129059 -0.17240992] [ 0.41096015 -0.08312209 0.90785598 0.88573819] [ 0. 0. 0. 1. ]] SLAMing on 122.80538474999999 meters Centerline goodness : 0.906162 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.17, Z:0.89 [[ 0.9017502 -0.10771803 -0.41862083 9.64636592] [ 0.13258249 0.99069726 0.03067292 -0.17302544] [ 0.41142248 -0.08316111 0.90764298 0.88577077] [ 0. 0. 0. 1. ]] SLAMing on 122.83538474999999 meters Centerline goodness : 0.904353 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.17, Z:0.89 [[ 0.90139404 -0.10853955 -0.41917532 9.64859022] [ 0.13346746 0.99058343 0.03051062 -0.17398987] [ 0.41191652 -0.08344836 0.9073925 0.88650038] [ 0. 0. 0. 1. ]] SLAMing on 122.86538474999999 meters Centerline goodness : 0.902348 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.18, Z:0.89 [[ 0.9008743 -0.10998984 -0.41991396 9.65191513] [ 0.13495257 0.99039458 0.03010607 -0.17519543] [ 0.41256915 -0.08379025 0.90706444 0.887366 ] [ 0. 0. 0. 1. ]] SLAMing on 122.89538474999999 meters Centerline goodness : 0.904162 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.18, Z:0.89 [[ 0.90053132 -0.11073582 -0.42045323 9.65403425] [ 0.13580667 0.99027923 0.0300599 -0.17595112] [ 0.41303739 -0.08417024 0.90681612 0.88812259] [ 0. 0. 0. 1. ]] SLAMing on 122.92538474999999 meters Centerline goodness : 0.899809 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.89 [[ 0.89995783 -0.11197372 -0.42135234 9.65777503] [ 0.1372574 0.9900794 0.03005324 -0.176757 ] [ 0.4138071 -0.08488037 0.90639892 0.88938793] [ 0. 0. 0. 1. ]] SLAMing on 122.95538475 meters Centerline goodness : 0.898778 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.89 [[ 0.89970126 -0.11242357 -0.42178027 9.65919707] [ 0.13790431 0.98998231 0.03028907 -0.17814361] [ 0.4141498 -0.08541643 0.90619202 0.89034788] [ 0. 0. 0. 1. ]] SLAMing on 122.98538475 meters Centerline goodness : 0.905059 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.89 [[ 0.89910152 -0.11746368 -0.42168558 9.6589224 ] [ 0.14211928 0.98947033 0.0273968 -0.18057992] [ 0.41402724 -0.08456215 0.90632813 0.89235482] [ 0. 0. 0. 1. ]] SLAMing on 123.01538475 meters Centerline goodness : 0.903682 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.89 [[ 0.89884352 -0.11769254 -0.42217152 9.65981987] [ 0.14258913 0.98939249 0.02776408 -0.18121564] [ 0.41442571 -0.08515263 0.9060907 0.89364584] [ 0. 0. 0. 1. ]] SLAMing on 123.04538475 meters Centerline goodness : 0.906219 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.90 [[ 0.89864744 -0.11775878 -0.42257029 9.65980322] [ 0.14329708 0.98925295 0.02906105 -0.18364064] [ 0.41460672 -0.08666873 0.90586412 0.89635987] [ 0. 0. 0. 1. ]] SLAMing on 123.07538475 meters Centerline goodness : 0.905505 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.19, Z:0.90 [[ 0.89822733 -0.11795023 -0.42340927 9.66002702] [ 0.1442712 0.98906703 0.03053229 -0.18607038] [ 0.41517887 -0.0885107 0.90542386 0.90019427] [ 0. 0. 0. 1. ]] SLAMing on 123.10538474999998 meters Centerline goodness : 0.905604 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.90 [[ 0.8980283 -0.11469811 -0.42472287 9.66431379] [ 0.14223839 0.98926224 0.0335927 -0.18450157] [ 0.41630928 -0.09057909 0.90469996 0.90078235] [ 0. 0. 0. 1. ]] SLAMing on 123.13538474999999 meters Centerline goodness : 0.902170 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.18, Z:0.90 [[ 0.89797606 -0.11508709 -0.42472809 9.66528288] [ 0.14249225 0.98923856 0.03321194 -0.18356272] [ 0.41633514 -0.09034399 0.90471157 0.90027118] [ 0. 0. 0. 1. ]] SLAMing on 123.16538474999999 meters Centerline goodness : 0.904871 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.90 [[ 0.89799342 -0.11457302 -0.42483036 9.66441281] [ 0.14191255 0.98932368 0.03315849 -0.18126561] [ 0.41649567 -0.09006487 0.90466551 0.90030956] [ 0. 0. 0. 1. ]] SLAMing on 123.19538474999999 meters Centerline goodness : 0.904310 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.18, Z:0.90 [[ 0.89795642 -0.11469751 -0.42487498 9.66481015] [ 0.14185852 0.98934561 0.03273267 -0.17905982] [ 0.41659384 -0.08966464 0.90466006 0.89981584] [ 0. 0. 0. 1. ]] SLAMing on 123.22538474999999 meters Centerline goodness : 0.902273 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.18, Z:0.90 [[ 0.89790877 -0.11016646 -0.42617273 9.66624529] [ 0.13860839 0.98968543 0.03620023 -0.1771586 ] [ 0.41778889 -0.09157563 0.90391723 0.90110478] [ 0. 0. 0. 1. ]] SLAMing on 123.25538474999999 meters Centerline goodness : 0.902923 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.17, Z:0.90 [[ 0.89783331 -0.11045831 -0.42625616 9.66690964] [ 0.13865232 0.9897018 0.03557927 -0.17496135] [ 0.41793646 -0.09104566 0.90390254 0.90052727] [ 0. 0. 0. 1. ]] SLAMing on 123.28538474999999 meters Centerline goodness : 0.903711 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.17, Z:0.90 [[ 0.89783645 -0.10629567 -0.42730662 9.66879348] [ 0.13551962 0.99002749 0.03847078 -0.1721858 ] [ 0.41895602 -0.0924489 0.90328791 0.90071929] [ 0. 0. 0. 1. ]] SLAMing on 123.31538474999999 meters Centerline goodness : 0.901753 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.17, Z:0.90 [[ 0.89778459 -0.1064734 -0.42737131 9.66930671] [ 0.13547927 0.99005328 0.03794562 -0.16969902] [ 0.41908017 -0.09196695 0.90327952 0.90012478] [ 0. 0. 0. 1. ]] SLAMing on 123.34538475 meters Centerline goodness : 0.897805 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.17, Z:0.90 [[ 0.89783388 -0.10188193 -0.42838581 9.67040247] [ 0.13214809 0.9903639 0.04142726 -0.16779664] [ 0.42003715 -0.09380517 0.90264577 0.90098783] [ 0. 0. 0. 1. ]] SLAMing on 123.37538475 meters Centerline goodness : 0.899814 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.17, Z:0.90 [[ 0.89791028 -0.10179572 -0.42824615 9.67002024] [ 0.13188544 0.99041249 0.04110146 -0.16588017] [ 0.41995639 -0.09338486 0.90272693 0.90044096] [ 0. 0. 0. 1. ]] SLAMing on 123.40538475 meters Centerline goodness : 0.900450 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89818479 -0.10063858 -0.42794387 9.66754222] [ 0.13057718 0.99058561 0.04110659 -0.16287918] [ 0.41977813 -0.09280101 0.90287003 0.89987099] [ 0. 0. 0. 1. ]] SLAMing on 123.43538475 meters Centerline goodness : 0.900904 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89811539 -0.10061638 -0.42809473 9.66737902] [ 0.13045636 0.99061162 0.04086271 -0.16117366] [ 0.41996416 -0.09254711 0.90280958 0.89994685] [ 0. 0. 0. 1. ]] SLAMing on 123.46538474999998 meters Centerline goodness : 0.904827 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89828475 -0.09539555 -0.42893379 9.66683097] [ 0.12672149 0.99091699 0.04500208 -0.16066258] [ 0.42074478 -0.09477981 0.90221429 0.90150416] [ 0. 0. 0. 1. ]] SLAMing on 123.49538474999999 meters Centerline goodness : 0.904304 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89841057 -0.0947989 -0.42880255 9.6658136 ] [ 0.12596097 0.99102242 0.0448151 -0.15813491] [ 0.42070452 -0.09427474 0.90228598 0.90085984] [ 0. 0. 0. 1. ]] SLAMing on 123.52538474999999 meters Centerline goodness : 0.904200 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89831908 -0.09509542 -0.42892853 9.66667915] [ 0.12608639 0.99102733 0.04435156 -0.15640992] [ 0.42086227 -0.0939239 0.902249 0.90044587] [ 0. 0. 0. 1. ]] SLAMing on 123.55538474999999 meters Centerline goodness : 0.901014 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89821081 -0.09545321 -0.42907577 9.66781225] [ 0.12623605 0.99103324 0.04379012 -0.1547113 ] [ 0.42104845 -0.09349759 0.90220641 0.89988607] [ 0. 0. 0. 1. ]] SLAMing on 123.58538474999999 meters Centerline goodness : 0.896867 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89832918 -0.09518901 -0.42888662 9.6678739 ] [ 0.1256437 0.99113478 0.04319151 -0.15215367] [ 0.42097309 -0.0926871 0.90232519 0.89844993] [ 0. 0. 0. 1. ]] SLAMing on 123.61538474999999 meters Centerline goodness : 0.897200 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.8982666 -0.09539424 -0.4289721 9.66861458] [ 0.12565964 0.99115321 0.04271967 -0.15070728] [ 0.42110186 -0.09227813 0.90230703 0.89790061] [ 0. 0. 0. 1. ]] SLAMing on 123.64538474999999 meters Centerline goodness : 0.895882 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89804166 -0.09558282 -0.42940087 9.66826068] [ 0.12605165 0.99109089 0.04300961 -0.15175008] [ 0.42146431 -0.09275111 0.90208928 0.89965348] [ 0. 0. 0. 1. ]] SLAMing on 123.67538474999999 meters Centerline goodness : 0.896088 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89783115 -0.09609597 -0.42972642 9.66956024] [ 0.12650342 0.99104734 0.04268543 -0.15126984] [ 0.42177733 -0.09268617 0.90194964 0.89986233] [ 0. 0. 0. 1. ]] SLAMing on 123.70538475 meters Centerline goodness : 0.897399 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89787737 -0.09614574 -0.4296187 9.66983951] [ 0.1265245 0.99104664 0.04263916 -0.15097709] [ 0.4216726 -0.09264203 0.90200315 0.8995014 ] [ 0. 0. 0. 1. ]] SLAMing on 123.73538475 meters Centerline goodness : 0.895932 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89757232 -0.101369 -0.42905508 9.66972433] [ 0.13039149 0.9907066 0.03871032 -0.15105755] [ 0.42114368 -0.09069044 0.90244847 0.89919548] [ 0. 0. 0. 1. ]] SLAMing on 123.76538475 meters Centerline goodness : 0.898009 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89725125 -0.10191076 -0.42959794 9.67149418] [ 0.13097322 0.99063626 0.03854625 -0.15097349] [ 0.42164702 -0.09085149 0.90219721 0.89979749] [ 0. 0. 0. 1. ]] SLAMing on 123.79538475 meters Centerline goodness : 0.896934 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.8971954 -0.10194437 -0.42970659 9.67208218] [ 0.13099672 0.99063529 0.0384913 -0.15124473] [ 0.42175854 -0.09082437 0.90214781 0.89973432] [ 0. 0. 0. 1. ]] SLAMing on 123.82538475 meters Centerline goodness : 0.899318 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.15, Z:0.90 [[ 0.89708506 -0.10158917 -0.43002097 9.67220149] [ 0.13096693 0.99061179 0.03919123 -0.15318493] [ 0.42200244 -0.09147639 0.90196785 0.90090907] [ 0. 0. 0. 1. ]] SLAMing on 123.85538474999998 meters Centerline goodness : 0.902866 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89687331 -0.10172056 -0.43043141 9.67308231] [ 0.13129986 0.99055569 0.039494 -0.15500451] [ 0.42234893 -0.0919367 0.90175885 0.90192482] [ 0. 0. 0. 1. ]] SLAMing on 123.88538474999999 meters Centerline goodness : 0.904737 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.16, Z:0.90 [[ 0.89661357 -0.10647959 -0.42982113 9.67356223] [ 0.13476396 0.99023044 0.03580993 -0.15654515] [ 0.42180894 -0.09003207 0.90220366 0.90111811] [ 0. 0. 0. 1. ]] SLAMing on 123.91538474999999 meters Centerline goodness : 0.901356 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.16, Z:0.90 [[ 0.89619583 -0.10823512 -0.43025364 9.67815121] [ 0.13640218 0.99003278 0.03506479 -0.15800912] [ 0.42216996 -0.09011246 0.90202675 0.90073913] [ 0. 0. 0. 1. ]] SLAMing on 123.94538474999999 meters Centerline goodness : 0.900242 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.16, Z:0.90 [[ 0.89578286 -0.10913141 -0.43088675 9.68110363] [ 0.13732808 0.98991489 0.0347779 -0.15919884] [ 0.42274585 -0.09032629 0.90173561 0.90119631] [ 0. 0. 0. 1. ]] SLAMing on 123.97538474999999 meters Centerline goodness : 0.897190 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89521419 -0.11102315 -0.43158476 9.68595781] [ 0.13907622 0.98970186 0.03388254 -0.16087921] [ 0.4233785 -0.09035531 0.90143584 0.90124317] [ 0. 0. 0. 1. ]] SLAMing on 124.00538474999999 meters Centerline goodness : 0.901174 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89499769 -0.11147787 -0.43191644 9.6875145 ] [ 0.13960027 0.98962921 0.03384951 -0.16180524] [ 0.42366366 -0.09059088 0.9012782 0.9016473 ] [ 0. 0. 0. 1. ]] SLAMing on 124.03538474999999 meters Centerline goodness : 0.897846 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89455859 -0.11302564 -0.43242356 9.69047324] [ 0.14133729 0.98938489 0.03378314 -0.16370891] [ 0.42401498 -0.09133857 0.90103749 0.90289495] [ 0. 0. 0. 1. ]] SLAMing on 124.06538474999999 meters Centerline goodness : 0.898690 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89445281 -0.1134369 -0.43253467 9.69151681] [ 0.14166951 0.98934714 0.03349609 -0.1629524 ] [ 0.42412725 -0.09123765 0.90099488 0.90269915] [ 0. 0. 0. 1. ]] SLAMing on 124.09538475 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89432088 -0.11362918 -0.43275695 9.69194113] [ 0.14190589 0.98931335 0.03349349 -0.16242283] [ 0.42432639 -0.09136469 0.90088823 0.90317659] [ 0. 0. 0. 1. ]] SLAMing on 124.12538475 meters Centerline goodness : 0.902013 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.90 [[ 0.89411169 -0.11411788 -0.4330605 9.69272231] [ 0.1425142 0.98922349 0.03356465 -0.16132997] [ 0.42456329 -0.09172781 0.90073971 0.90402243] [ 0. 0. 0. 1. ]] SLAMing on 124.15538475 meters Centerline goodness : 0.903754 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.91 [[ 0.89383997 -0.11450708 -0.43351844 9.69250127] [ 0.14316821 0.98911664 0.03392845 -0.16196449] [ 0.42491525 -0.09239267 0.90050576 0.906086 ] [ 0. 0. 0. 1. ]] SLAMing on 124.18538475 meters Centerline goodness : 0.906265 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.91 [[ 0.89373818 -0.11475648 -0.43366233 9.69324308] [ 0.14330439 0.98910821 0.03359764 -0.16042293] [ 0.42508342 -0.09217321 0.90044888 0.90591434] [ 0. 0. 0. 1. ]] SLAMing on 124.21538474999998 meters Centerline goodness : 0.908577 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.91 [[ 0.89385957 -0.11415334 -0.43357132 9.69226707] [ 0.14259361 0.9892133 0.03352773 -0.15794432] [ 0.42506722 -0.09179358 0.90049531 0.90541906] [ 0. 0. 0. 1. ]] SLAMing on 124.24538474999999 meters Centerline goodness : 0.904712 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.91 [[ 0.89381759 -0.11423015 -0.43363761 9.69192411] [ 0.14277443 0.98918086 0.03371483 -0.15838809] [ 0.42509478 -0.09204728 0.9004564 0.90615824] [ 0. 0. 0. 1. ]] SLAMing on 124.27538474999999 meters Centerline goodness : 0.910818 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.16, Z:0.91 [[ 0.893339 -0.11525334 -0.43435252 9.69334547] [ 0.14418244 0.98896252 0.03412567 -0.1594017 ] [ 0.42562526 -0.0931118 0.90009629 0.90869743] [ 0. 0. 0. 1. ]] SLAMing on 124.30538474999999 meters Centerline goodness : 0.908672 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89293904 -0.11607077 -0.43495683 9.69511993] [ 0.14506316 0.98884053 0.03392768 -0.15910283] [ 0.42616493 -0.09339156 0.89981191 0.90971359] [ 0. 0. 0. 1. ]] SLAMing on 124.33538474999999 meters Centerline goodness : 0.908513 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89256267 -0.11729688 -0.43540019 9.6982143 ] [ 0.14614795 0.98870402 0.03324367 -0.15881924] [ 0.42658253 -0.0933049 0.899623 0.90960529] [ 0. 0. 0. 1. ]] SLAMing on 124.36538474999999 meters Centerline goodness : 0.905874 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89241548 -0.11761123 -0.43561705 9.69968981] [ 0.14640992 0.98867311 0.03300931 -0.15824275] [ 0.4268006 -0.09323668 0.89952664 0.90937009] [ 0. 0. 0. 1. ]] SLAMing on 124.39538474999999 meters Centerline goodness : 0.907421 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89240457 -0.11756599 -0.4356516 9.70034763] [ 0.14638852 0.98867454 0.03306147 -0.15826764] [ 0.42683074 -0.0932786 0.89950799 0.90915654] [ 0. 0. 0. 1. ]] SLAMing on 124.42538474999999 meters Centerline goodness : 0.907177 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89190263 -0.12218757 -0.43540774 9.69970697] [ 0.15010329 0.98821029 0.0301568 -0.16100779] [ 0.42658962 -0.09225306 0.89972811 0.91066116] [ 0. 0. 0. 1. ]] SLAMing on 124.45538475 meters Centerline goodness : 0.911252 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.91 [[ 0.89132202 -0.12492155 -0.43582068 9.70318042] [ 0.15291885 0.98779517 0.02960629 -0.16357237] [ 0.4268031 -0.09303393 0.89954644 0.91244101] [ 0. 0. 0. 1. ]] SLAMing on 124.48538475 meters Centerline goodness : 0.906951 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.91 [[ 0.89097913 -0.12192644 -0.43736726 9.70883324] [ 0.15126262 0.98795165 0.03272858 -0.16364636] [ 0.42810723 -0.09531781 0.89868722 0.91335085] [ 0. 0. 0. 1. ]] SLAMing on 124.51538475 meters Centerline goodness : 0.906951 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.91 [[ 0.89097913 -0.12192644 -0.43736726 9.70883324] [ 0.15126262 0.98795165 0.03272858 -0.16364636] [ 0.42810723 -0.09531781 0.89868722 0.91335085] [ 0. 0. 0. 1. ]] SLAMing on 124.54538475 meters Centerline goodness : 0.900434 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.91 [[ 0.89061606 -0.12333185 -0.43771256 9.71286955] [ 0.152477 0.98779137 0.03192125 -0.16315498] [ 0.42843179 -0.09517068 0.89854813 0.91256527] [ 0. 0. 0. 1. ]] SLAMing on 124.57538475 meters Centerline goodness : 0.903100 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.91 [[ 0.89055531 -0.12312366 -0.43789474 9.71300427] [ 0.15248005 0.9877764 0.03236685 -0.16308975] [ 0.42855696 -0.09559468 0.89844342 0.91324218] [ 0. 0. 0. 1. ]] SLAMing on 124.60538474999998 meters Centerline goodness : 0.908488 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.92 [[ 0.89060104 -0.12195896 -0.4381276 9.71033127] [ 0.15190778 0.98781599 0.03381714 -0.16370171] [ 0.42866515 -0.09667257 0.89827646 0.91571421] [ 0. 0. 0. 1. ]] SLAMing on 124.63538474999999 meters Centerline goodness : 0.907437 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.92 [[ 0.89072263 -0.12124899 -0.43807748 9.70836809] [ 0.15137847 0.98787814 0.03437063 -0.16392558] [ 0.42859976 -0.09693019 0.8982799 0.91658089] [ 0. 0. 0. 1. ]] SLAMing on 124.66538474999999 meters Centerline goodness : 0.907100 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.92 [[ 0.89098627 -0.12037038 -0.43778355 9.70609631] [ 0.15064079 0.9879709 0.03494065 -0.16369049] [ 0.42831159 -0.0970797 0.8984012 0.91692075] [ 0. 0. 0. 1. ]] SLAMing on 124.69538474999999 meters Centerline goodness : 0.910273 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.16, Z:0.92 [[ 0.8912703 -0.1152864 -0.43857302 9.7054961 ] [ 0.14710513 0.988346 0.03914418 -0.16266879] [ 0.4289491 -0.09940438 0.89784266 0.91852266] [ 0. 0. 0. 1. ]] SLAMing on 124.72538474999999 meters Centerline goodness : 0.912409 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.92 [[ 0.89133818 -0.11469992 -0.43858885 9.70389928] [ 0.14646776 0.98843974 0.03916733 -0.16023922] [ 0.42902616 -0.09915046 0.89783391 0.91871991] [ 0. 0. 0. 1. ]] SLAMing on 124.75538474999999 meters Centerline goodness : 0.907701 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.92 [[ 0.89144383 -0.1144266 -0.43844548 9.70305844] [ 0.14605605 0.9885082 0.03897664 -0.15902058] [ 0.42894699 -0.0987831 0.89791223 0.91836099] [ 0. 0. 0. 1. ]] SLAMing on 124.78538474999999 meters Centerline goodness : 0.909596 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.16, Z:0.92 [[ 0.89163052 -0.11258652 -0.43854224 9.70102963] [ 0.14423861 0.9887575 0.03941873 -0.15563717] [ 0.42917391 -0.09840166 0.89784568 0.91796075] [ 0. 0. 0. 1. ]] SLAMing on 124.81538474999999 meters Centerline goodness : 0.907964 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.15, Z:0.92 [[ 0.89178053 -0.11214755 -0.43834965 9.70042398] [ 0.14361529 0.98885764 0.03918187 -0.15269498] [ 0.42907125 -0.09789534 0.89795009 0.91708059] [ 0. 0. 0. 1. ]] SLAMing on 124.84538475 meters Centerline goodness : 0.909538 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.15, Z:0.92 [[ 0.89210143 -0.10719809 -0.43893463 9.70058176] [ 0.13961769 0.98930797 0.04215028 -0.14862819] [ 0.4297231 -0.09888537 0.8975298 0.91645508] [ 0. 0. 0. 1. ]] SLAMing on 124.87538475 meters Centerline goodness : 0.909110 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.15, Z:0.92 [[ 0.89225702 -0.10685729 -0.43870142 9.6997969 ] [ 0.13904783 0.98940272 0.04180865 -0.14591398] [ 0.42958481 -0.09830454 0.89765979 0.91557637] [ 0. 0. 0. 1. ]] SLAMing on 124.90538475 meters Centerline goodness : 0.910003 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.92 [[ 0.89253549 -0.10194643 -0.43930323 9.69985378] [ 0.13532692 0.98976692 0.04525548 -0.1437356 ] [ 0.43019418 -0.09984168 0.8971982 0.91574049] [ 0. 0. 0. 1. ]] SLAMing on 124.93538475 meters Centerline goodness : 0.906961 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.92 [[ 0.89264787 -0.10181217 -0.43910599 9.69938634] [ 0.13503432 0.98981825 0.04500635 -0.1421406 ] [ 0.43005292 -0.0994692 0.89730728 0.9151212 ] [ 0. 0. 0. 1. ]] SLAMing on 124.96538474999998 meters Centerline goodness : 0.911186 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.91 [[ 0.89285349 -0.101121 -0.43884758 9.69795712] [ 0.13421058 0.98993271 0.04495274 -0.14052124] [ 0.42988391 -0.0990342 0.89743638 0.91453209] [ 0. 0. 0. 1. ]] SLAMing on 124.99538474999999 meters Centerline goodness : 0.909577 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.91 [[ 0.89279707 -0.10146776 -0.43888232 9.69886217] [ 0.13433154 0.98994153 0.0443938 -0.13881089] [ 0.42996329 -0.09859039 0.89744721 0.9138998 ] [ 0. 0. 0. 1. ]] SLAMing on 125.02538474999999 meters Centerline goodness : 0.909763 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.91 [[ 0.89244446 -0.10663838 -0.43837329 9.6978569 ] [ 0.13811255 0.98959043 0.04044376 -0.13795486] [ 0.42949716 -0.09663866 0.8978826 0.91411226] [ 0. 0. 0. 1. ]] SLAMing on 125.05538474999999 meters Centerline goodness : 0.913456 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.91 [[ 0.8922227 -0.10710335 -0.43871122 9.69863275] [ 0.13862042 0.98952353 0.04034317 -0.13831528] [ 0.42979418 -0.09680942 0.89772206 0.91485561] [ 0. 0. 0. 1. ]] SLAMing on 125.08538474999999 meters Centerline goodness : 0.913670 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.14, Z:0.92 [[ 0.89183 -0.10867867 -0.43912208 9.70182533] [ 0.14014565 0.9893316 0.03977676 -0.13856802] [ 0.43011446 -0.09701516 0.89754644 0.91509966] [ 0. 0. 0. 1. ]] SLAMing on 125.11538474999999 meters Centerline goodness : 0.911807 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89088872 -0.11167476 -0.44027949 9.70721047] [ 0.14353659 0.98885147 0.03962341 -0.13858722] [ 0.43094609 -0.09849626 0.89698604 0.91801864] [ 0. 0. 0. 1. ]] SLAMing on 125.14538474999999 meters Centerline goodness : 0.910885 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89054592 -0.11240321 -0.44078734 9.70901054] [ 0.14439309 0.98872795 0.03959387 -0.13922927] [ 0.43136828 -0.09890681 0.89673789 0.91892354] [ 0. 0. 0. 1. ]] SLAMing on 125.17538474999999 meters Centerline goodness : 0.911780 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89020038 -0.11308191 -0.44131142 9.71120812] [ 0.14497377 0.98866258 0.0391013 -0.13816396] [ 0.43188644 -0.09878657 0.89650171 0.919094 ] [ 0. 0. 0. 1. ]] SLAMing on 125.20538475 meters Centerline goodness : 0.909024 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89028927 -0.11274479 -0.44121835 9.71114237] [ 0.14451343 0.98873608 0.03894649 -0.13696737] [ 0.43185749 -0.09843562 0.89655426 0.91840036] [ 0. 0. 0. 1. ]] SLAMing on 125.23538475 meters Centerline goodness : 0.910032 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89021417 -0.11279779 -0.4413563 9.71135956] [ 0.14459266 0.98872421 0.03895384 -0.13737906] [ 0.43198575 -0.09849414 0.89648604 0.91875417] [ 0. 0. 0. 1. ]] SLAMing on 125.26538475 meters Centerline goodness : 0.910767 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89034414 -0.11240385 -0.44119461 9.71083592] [ 0.14412458 0.98879344 0.03893131 -0.13622662] [ 0.4318743 -0.09824926 0.8965666 0.91830672] [ 0. 0. 0. 1. ]] SLAMing on 125.29538475 meters Centerline goodness : 0.908992 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.14, Z:0.92 [[ 0.89022692 -0.11263341 -0.44137256 9.7119394 ] [ 0.14429563 0.98877709 0.03871224 -0.13541955] [ 0.43205879 -0.09815081 0.8964885 0.9181449 ] [ 0. 0. 0. 1. ]] SLAMing on 125.32538475 meters Centerline goodness : 0.905564 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89019042 -0.11255235 -0.44146685 9.71215004] [ 0.14413644 0.98880684 0.03854502 -0.13437033] [ 0.43218711 -0.09794387 0.89644928 0.91802058] [ 0. 0. 0. 1. ]] SLAMing on 125.35538474999998 meters Centerline goodness : 0.905469 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89035444 -0.11211198 -0.44124808 9.71143595] [ 0.14362891 0.98888003 0.03856184 -0.13320694] [ 0.43201817 -0.09770969 0.89655625 0.91753828] [ 0. 0. 0. 1. ]] SLAMing on 125.38538474999999 meters Centerline goodness : 0.905258 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89044924 -0.11181654 -0.44113174 9.71098073] [ 0.14334024 0.98891758 0.03867295 -0.13242551] [ 0.43191865 -0.09766823 0.89660872 0.91740196] [ 0. 0. 0. 1. ]] SLAMing on 125.41538474999999 meters Centerline goodness : 0.905603 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89054565 -0.11151377 -0.44101375 9.71048491] [ 0.14299653 0.98896679 0.03868705 -0.13144837] [ 0.43183382 -0.09751602 0.89666615 0.91717145] [ 0. 0. 0. 1. ]] SLAMing on 125.44538474999999 meters Centerline goodness : 0.906477 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89093568 -0.11017569 -0.44056206 9.70769224] [ 0.14169797 0.98913391 0.03918918 -0.12986645] [ 0.43145718 -0.09734179 0.89686637 0.91693681] [ 0. 0. 0. 1. ]] SLAMing on 125.47538474999999 meters Centerline goodness : 0.906224 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89126196 -0.10478331 -0.44121716 9.70685175] [ 0.13784436 0.98950025 0.04345326 -0.12958678] [ 0.43203131 -0.09954753 0.89634772 0.91824754] [ 0. 0. 0. 1. ]] SLAMing on 125.50538474999999 meters Centerline goodness : 0.901813 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89128583 -0.1046225 -0.4412071 9.70687861] [ 0.13757542 0.98954579 0.04326826 -0.12864085] [ 0.43206779 -0.09926364 0.89636162 0.91786906] [ 0. 0. 0. 1. ]] SLAMing on 125.53538474999999 meters Centerline goodness : 0.905233 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89122414 -0.10473398 -0.44130526 9.70768915] [ 0.1375048 0.98957423 0.04284007 -0.12768869] [ 0.4322175 -0.09886169 0.89633386 0.91739482] [ 0. 0. 0. 1. ]] SLAMing on 125.56538474999999 meters Centerline goodness : 0.905756 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89119527 -0.10456961 -0.44140253 9.70779521] [ 0.13739698 0.98958356 0.04297025 -0.1279478 ] [ 0.4323113 -0.09894226 0.89627974 0.91759075] [ 0. 0. 0. 1. ]] SLAMing on 125.59538475 meters Centerline goodness : 0.900463 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89113378 -0.10466756 -0.44150343 9.70846938] [ 0.13749577 0.98957185 0.04292391 -0.12839752] [ 0.43240663 -0.0989558 0.89623226 0.91761697] [ 0. 0. 0. 1. ]] SLAMing on 125.62538475 meters Centerline goodness : 0.897251 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.13, Z:0.92 [[ 0.89078412 -0.10562207 -0.44198148 9.71153256] [ 0.13848124 0.98944637 0.04264776 -0.13005136] [ 0.43281243 -0.09919609 0.89600979 0.91793392] [ 0. 0. 0. 1. ]] SLAMing on 125.65538475 meters Centerline goodness : 0.898289 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.89044235 -0.10689711 -0.44236345 9.71520628] [ 0.13955387 0.98933018 0.04183921 -0.12999014] [ 0.43317102 -0.09898894 0.8958594 0.91734702] [ 0. 0. 0. 1. ]] SLAMing on 125.68538475 meters Centerline goodness : 0.896698 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.89033607 -0.10757819 -0.44241227 9.71740667] [ 0.14001818 0.98929048 0.04122209 -0.12939412] [ 0.43323964 -0.09864728 0.8958639 0.91640507] [ 0. 0. 0. 1. ]] SLAMing on 125.71538474999998 meters Centerline goodness : 0.891857 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.89012455 -0.1081305 -0.44270315 9.71984119] [ 0.14032223 0.98927687 0.04050854 -0.12876003] [ 0.43357578 -0.09817874 0.89575274 0.91565522] [ 0. 0. 0. 1. ]] SLAMing on 125.74538474999999 meters Centerline goodness : 0.895565 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.89003448 -0.10808018 -0.44289649 9.72038315] [ 0.14024948 0.9892906 0.04042519 -0.12850484] [ 0.43378417 -0.09809581 0.89566093 0.91572217] [ 0. 0. 0. 1. ]] SLAMing on 125.77538474999999 meters Centerline goodness : 0.895589 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.89000691 -0.10803559 -0.44296277 9.72065024] [ 0.14017062 0.98930492 0.04034805 -0.12848625] [ 0.43386622 -0.09800041 0.89563163 0.91568042] [ 0. 0. 0. 1. ]] SLAMing on 125.80538474999999 meters Centerline goodness : 0.897126 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.88972566 -0.10866501 -0.44337362 9.72189041] [ 0.1409157 0.98919947 0.04033833 -0.12958705] [ 0.43420158 -0.09836835 0.89542875 0.91670737] [ 0. 0. 0. 1. ]] SLAMing on 125.83538474999999 meters Centerline goodness : 0.897230 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.88963322 -0.10894939 -0.44348931 9.72302203] [ 0.14112301 0.98918022 0.0400847 -0.12941814] [ 0.43432365 -0.09824723 0.89538285 0.91641983] [ 0. 0. 0. 1. ]] SLAMing on 125.86538474999999 meters Centerline goodness : 0.899958 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.13, Z:0.92 [[ 0.8895391 -0.1090416 -0.4436554 9.72402425] [ 0.1413714 0.98913423 0.04034348 -0.13047905] [ 0.43443563 -0.09860729 0.89528894 0.91676575] [ 0. 0. 0. 1. ]] SLAMing on 125.89538474999999 meters Centerline goodness : 0.902558 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.13, Z:0.92 [[ 0.88903341 -0.10906328 -0.44466257 9.72513752] [ 0.1423835 0.98891497 0.04212042 -0.13441769] [ 0.43513967 -0.10075907 0.89470726 0.92084572] [ 0. 0. 0. 1. ]] SLAMing on 125.92538474999999 meters Centerline goodness : 0.902151 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.14, Z:0.92 [[ 0.88849617 -0.11036173 -0.44541536 9.72797379] [ 0.14394886 0.98868604 0.04217393 -0.13656444] [ 0.43572156 -0.10158841 0.89433021 0.92261426] [ 0. 0. 0. 1. ]] SLAMing on 125.95538475 meters Centerline goodness : 0.901970 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.14, Z:0.92 [[ 0.8882196 -0.11080323 -0.44585714 9.72927658] [ 0.14464425 0.98857154 0.04247759 -0.13859606] [ 0.43605502 -0.1022201 0.89409567 0.92388996] [ 0. 0. 0. 1. ]] SLAMing on 125.98538475 meters Centerline goodness : 0.902413 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.14, Z:0.92 [[ 0.88815752 -0.11032912 -0.44609832 9.72931113] [ 0.14435155 0.98859625 0.04289628 -0.13901454] [ 0.43627841 -0.10249364 0.89395537 0.92456659] [ 0. 0. 0. 1. ]] SLAMing on 126.01538475 meters Centerline goodness : 0.902738 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.14, Z:0.92 [[ 0.88837478 -0.10970353 -0.4458199 9.72852589] [ 0.14364048 0.98869797 0.04293868 -0.13777139] [ 0.4360707 -0.10218343 0.89409222 0.92382171] [ 0. 0. 0. 1. ]] SLAMing on 126.04538475 meters Centerline goodness : 0.898022 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.14, Z:0.93 [[ 0.88780387 -0.11116572 -0.4465943 9.73164851] [ 0.14518746 0.98848789 0.04257112 -0.13704976] [ 0.43672061 -0.1026347 0.89372324 0.92501198] [ 0. 0. 0. 1. ]] SLAMing on 126.07538475 meters Centerline goodness : 0.904308 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.14, Z:0.93 [[ 0.88718397 -0.11285053 -0.4474029 9.73506467] [ 0.14679316 0.98828336 0.04180626 -0.13554951] [ 0.43744298 -0.10276553 0.89335485 0.92591447] [ 0. 0. 0. 1. ]] SLAMing on 126.10538474999998 meters Centerline goodness : 0.898036 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.14, Z:0.93 [[ 0.88701141 -0.11295805 -0.44771782 9.73559734] [ 0.1469154 0.98826847 0.04172888 -0.13530365] [ 0.43775179 -0.10279064 0.89320068 0.92636768] [ 0. 0. 0. 1. ]] SLAMing on 126.13538474999999 meters Centerline goodness : 0.900526 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88685328 -0.11315738 -0.44798066 9.73660738] [ 0.14705069 0.98825869 0.04148309 -0.13386135] [ 0.43802666 -0.10266528 0.89308034 0.92634984] [ 0. 0. 0. 1. ]] SLAMing on 126.16538474999999 meters Centerline goodness : 0.895781 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88706918 -0.10785182 -0.44886107 9.73668992] [ 0.14320327 0.98864884 0.04545644 -0.13339412] [ 0.43886341 -0.10460138 0.89244465 0.9274153 ] [ 0. 0. 0. 1. ]] SLAMing on 126.19538474999999 meters Centerline goodness : 0.900191 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88699783 -0.10762963 -0.44905536 9.73712209] [ 0.14290629 0.98869878 0.04530461 -0.13250901] [ 0.43910437 -0.10435793 0.89235462 0.92723571] [ 0. 0. 0. 1. ]] SLAMing on 126.22538474999999 meters Centerline goodness : 0.898356 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88673395 -0.10811292 -0.44946023 9.73886945] [ 0.1432533 0.98867119 0.04480805 -0.13158362] [ 0.43952406 -0.10411948 0.89217584 0.92722864] [ 0. 0. 0. 1. ]] SLAMing on 126.25538474999999 meters Centerline goodness : 0.900747 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88651235 -0.10842085 -0.44982304 9.74065004] [ 0.14347323 0.98865493 0.04446191 -0.1303657 ] [ 0.43989917 -0.10395359 0.8920103 0.92706286] [ 0. 0. 0. 1. ]] SLAMing on 126.28538474999999 meters Centerline goodness : 0.897035 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.8864637 -0.10843894 -0.44991456 9.74112586] [ 0.14349045 0.98865378 0.04443179 -0.13018038] [ 0.43999159 -0.10394561 0.89196564 0.92708762] [ 0. 0. 0. 1. ]] SLAMing on 126.31538474999999 meters Centerline goodness : 0.898935 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88624441 -0.10856264 -0.45031655 9.74195154] [ 0.14361063 0.9886427 0.04428986 -0.13034645] [ 0.44039394 -0.10392188 0.89176982 0.92762962] [ 0. 0. 0. 1. ]] SLAMing on 126.34538475 meters Centerline goodness : 0.898353 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88614855 -0.10834325 -0.45055797 9.74212771] [ 0.14352307 0.98864398 0.04454446 -0.1306158 ] [ 0.44061533 -0.10413847 0.89163519 0.92825607] [ 0. 0. 0. 1. ]] SLAMing on 126.37538475 meters Centerline goodness : 0.901117 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88602492 -0.10824036 -0.45082577 9.74229245] [ 0.14345617 0.9886525 0.04457075 -0.13084957] [ 0.44088567 -0.10416453 0.8914985 0.92880802] [ 0. 0. 0. 1. ]] SLAMing on 126.40538475 meters Centerline goodness : 0.901117 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88602492 -0.10824036 -0.45082577 9.74229245] [ 0.14345617 0.9886525 0.04457075 -0.13084957] [ 0.44088567 -0.10416453 0.8914985 0.92880802] [ 0. 0. 0. 1. ]] SLAMing on 126.43538475 meters Centerline goodness : 0.905564 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.13, Z:0.93 [[ 0.88583709 -0.10863919 -0.45109885 9.74370772] [ 0.14378758 0.98861792 0.04426905 -0.13040811] [ 0.44115505 -0.10407758 0.89137538 0.92879262] [ 0. 0. 0. 1. ]] SLAMing on 126.46538474999998 meters Centerline goodness : 0.903860 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88559252 -0.10902872 -0.45148491 9.74549028] [ 0.14410735 0.98858625 0.04393523 -0.12968511] [ 0.44154157 -0.10397101 0.89119643 0.92875155] [ 0. 0. 0. 1. ]] SLAMing on 126.49538474999999 meters Centerline goodness : 0.899129 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88552538 -0.10922855 -0.45156829 9.74647935] [ 0.14421449 0.98858196 0.04367937 -0.12948459] [ 0.44164123 -0.10380188 0.89116676 0.92839695] [ 0. 0. 0. 1. ]] SLAMing on 126.52538474999999 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88516866 -0.10962563 -0.45217106 9.74864967] [ 0.14467996 0.98851896 0.0435657 -0.12962747] [ 0.44220375 -0.10398308 0.89086664 0.92896394] [ 0. 0. 0. 1. ]] SLAMing on 126.55538474999999 meters Centerline goodness : 0.900926 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.8850083 -0.10977334 -0.45244902 9.7497255 ] [ 0.14488944 0.98848755 0.04358232 -0.12991019] [ 0.44245605 -0.1041258 0.89072469 0.92925733] [ 0. 0. 0. 1. ]] SLAMing on 126.58538474999999 meters Centerline goodness : 0.900133 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88466425 -0.11032649 -0.452987 9.75225214] [ 0.14544514 0.98841765 0.04331573 -0.12963118] [ 0.44296148 -0.10420463 0.89046422 0.92947103] [ 0. 0. 0. 1. ]] SLAMing on 126.61538474999999 meters Centerline goodness : 0.900233 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.8846443 -0.11030063 -0.45303226 9.75282918] [ 0.14537408 0.98843234 0.04321908 -0.12910123] [ 0.44302464 -0.10409266 0.89044589 0.92917771] [ 0. 0. 0. 1. ]] SLAMing on 126.64538474999999 meters Centerline goodness : 0.901002 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88455992 -0.10984179 -0.45330843 9.75289898] [ 0.14498425 0.98848195 0.04339348 -0.12901725] [ 0.44332079 -0.10410672 0.89029684 0.92956674] [ 0. 0. 0. 1. ]] SLAMing on 126.67538474999999 meters Centerline goodness : 0.905549 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88454661 -0.10934674 -0.45345405 9.75264797] [ 0.14462322 0.98851952 0.04374112 -0.13043355] [ 0.44346523 -0.10427104 0.89020567 0.93006786] [ 0. 0. 0. 1. ]] SLAMing on 126.70538475 meters Centerline goodness : 0.902968 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88435144 -0.10968035 -0.45375406 9.75360986] [ 0.14498499 0.98847099 0.04364003 -0.1305032 ] [ 0.44373628 -0.10438065 0.89005775 0.93049994] [ 0. 0. 0. 1. ]] SLAMing on 126.73538475 meters Centerline goodness : 0.901138 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.13, Z:0.93 [[ 0.88411497 -0.10994188 -0.45415141 9.75490737] [ 0.14537654 0.98840931 0.04373432 -0.13059257] [ 0.44407925 -0.10468913 0.88985044 0.93110711] [ 0. 0. 0. 1. ]] SLAMing on 126.76538475 meters Centerline goodness : 0.897331 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.13, Z:0.93 [[ 0.88396701 -0.11027585 -0.45435841 9.75638926] [ 0.1457577 0.9883549 0.0436953 -0.13109271] [ 0.44424883 -0.10485144 0.88974668 0.93118527] [ 0. 0. 0. 1. ]] SLAMing on 126.79538475 meters Centerline goodness : 0.903149 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.13, Z:0.93 [[ 0.88379365 -0.11056582 -0.4546251 9.75764549] [ 0.146034 0.98832146 0.04352895 -0.13063055] [ 0.44450293 -0.10486133 0.8896186 0.93125719] [ 0. 0. 0. 1. ]] SLAMing on 126.82538475 meters Centerline goodness : 0.899294 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.13, Z:0.93 [[ 0.88357501 -0.11043084 -0.45508267 9.75824704] [ 0.14595269 0.98833265 0.04354757 -0.13025306] [ 0.44496406 -0.10489808 0.88938371 0.93191622] [ 0. 0. 0. 1. ]] SLAMing on 126.85538474999998 meters Centerline goodness : 0.903127 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.13, Z:0.93 [[ 0.88308058 -0.11110923 -0.45587655 9.76058003] [ 0.14655197 0.98826709 0.04301954 -0.1298733 ] [ 0.44574793 -0.10479932 0.88900275 0.93260415] [ 0. 0. 0. 1. ]] SLAMing on 126.88538474999999 meters Centerline goodness : 0.904179 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.13, Z:0.93 [[ 0.88277123 -0.11189792 -0.4562826 9.76260242] [ 0.14725402 0.98818294 0.04255258 -0.12960337] [ 0.44612914 -0.10475364 0.88881689 0.93277182] [ 0. 0. 0. 1. ]] SLAMing on 126.91538474999999 meters Centerline goodness : 0.901109 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.13, Z:0.93 [[ 0.88246264 -0.11278395 -0.45666122 9.76533267] [ 0.14796989 0.98810375 0.0419034 -0.12850209] [ 0.44650263 -0.10455029 0.88865327 0.93237821] [ 0. 0. 0. 1. ]] SLAMing on 126.94538474999999 meters Centerline goodness : 0.896070 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.13, Z:0.93 [[ 0.88182617 -0.11460858 -0.45743577 9.77052408] [ 0.1494902 0.98792683 0.04066029 -0.12694872] [ 0.44725305 -0.10423747 0.88831259 0.9318909 ] [ 0. 0. 0. 1. ]] SLAMing on 126.97538474999999 meters Centerline goodness : 0.891599 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.13, Z:0.93 [[ 0.88143378 -0.11555127 -0.45795457 9.77322043] [ 0.15034736 0.98781844 0.04012967 -0.12615047] [ 0.44773894 -0.10422391 0.88806938 0.93207423] [ 0. 0. 0. 1. ]] SLAMing on 127.00538474999999 meters Centerline goodness : 0.892581 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.13, Z:0.93 [[ 0.88108863 -0.11607611 -0.45848573 9.77496431] [ 0.15078403 0.98776962 0.03969075 -0.12544576] [ 0.44827113 -0.1041034 0.887815 0.93237202] [ 0. 0. 0. 1. ]] SLAMing on 127.03538474999999 meters Centerline goodness : 0.895975 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.12, Z:0.93 [[ 0.88084893 -0.11631109 -0.45888657 9.77603713] [ 0.15103213 0.98773712 0.03955599 -0.12482729] [ 0.4486585 -0.10414947 0.8876139 0.93280538] [ 0. 0. 0. 1. ]] SLAMing on 127.06538474999999 meters Centerline goodness : 0.899397 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.13, Z:0.93 [[ 0.88082201 -0.11568 -0.45909773 9.77482945] [ 0.15059886 0.98778362 0.04004373 -0.12517421] [ 0.44885696 -0.10441099 0.88748283 0.93384771] [ 0. 0. 0. 1. ]] SLAMing on 127.09538475 meters Centerline goodness : 0.899416 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.13, Z:0.94 [[ 0.88081275 -0.11058138 -0.46037012 9.77520679] [ 0.1473388 0.98808179 0.04456077 -0.12590016] [ 0.44995574 -0.10708008 0.88660797 0.93652597] [ 0. 0. 0. 1. ]] SLAMing on 127.12538475 meters Centerline goodness : 0.901280 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.13, Z:0.94 [[ 0.88067292 -0.11041892 -0.46067654 9.77538595] [ 0.1472714 0.98808531 0.04470517 -0.12521651] [ 0.45025143 -0.10721511 0.88644152 0.93711198] [ 0. 0. 0. 1. ]] SLAMing on 127.15538475 meters Centerline goodness : 0.900442 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.12, Z:0.94 [[ 0.88058614 -0.11029148 -0.4608729 9.77550861] [ 0.1471772 0.98809737 0.04474875 -0.12478453] [ 0.4504519 -0.10723512 0.88633725 0.93747434] [ 0. 0. 0. 1. ]] SLAMing on 127.18538475 meters Centerline goodness : 0.905549 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.12, Z:0.94 [[ 0.88312423 -0.11107767 -0.45579968 9.78925581] [ 0.14454537 0.98872497 0.03910984 -0.12126553] [ 0.44631629 -0.10042258 0.88922274 0.94116573] [ 0. 0. 0. 1. ]] SLAMing on 127.21538474999998 meters Centerline goodness : 0.908650 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.12, Z:0.94 [[ 0.88303268 -0.11080017 -0.45604453 9.78933135] [ 0.144385 0.98873897 0.03934754 -0.12122757] [ 0.44654928 -0.10059115 0.8890867 0.9417156 ] [ 0. 0. 0. 1. ]] SLAMing on 127.24538474999999 meters Centerline goodness : 0.912677 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.12, Z:0.94 [[ 0.88275481 -0.11096252 -0.45654272 9.78989059] [ 0.14496508 0.98862734 0.04001388 -0.12351959] [ 0.44691058 -0.1015052 0.88880123 0.94363074] [ 0. 0. 0. 1. ]] SLAMing on 127.27538474999999 meters Centerline goodness : 0.909675 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.12, Z:0.94 [[ 0.88234598 -0.11173306 -0.45714471 9.79306548] [ 0.14578805 0.98851572 0.03978086 -0.12472025] [ 0.4474499 -0.10174672 0.88850222 0.94400037] [ 0. 0. 0. 1. ]] SLAMing on 127.30538474999999 meters Centerline goodness : 0.909269 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.13, Z:0.95 [[ 0.88181259 -0.11273739 -0.45792668 9.79592545] [ 0.14706924 0.98832152 0.03989005 -0.12676268] [ 0.44808169 -0.10252248 0.88809455 0.94556484] [ 0. 0. 0. 1. ]] SLAMing on 127.33538474999999 meters Centerline goodness : 0.909678 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.13, Z:0.95 [[ 0.88128003 -0.11354508 -0.45875159 9.79882816] [ 0.14814201 0.98815647 0.04000922 -0.12787877] [ 0.4487755 -0.10321971 0.88766336 0.94697531] [ 0. 0. 0. 1. ]] SLAMing on 127.36538474999999 meters Centerline goodness : 0.905308 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.13, Z:0.95 [[ 0.88037103 -0.11737344 -0.45953272 9.80609101] [ 0.15189992 0.98763606 0.03874817 -0.12922295] [ 0.44930308 -0.10391575 0.8873152 0.94803013] [ 0. 0. 0. 1. ]] SLAMing on 127.39538474999999 meters Centerline goodness : 0.898608 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.13, Z:0.95 [[ 0.87947081 -0.11925016 -0.46077163 9.81224359] [ 0.15385331 0.98735791 0.03812498 -0.13005729] [ 0.4504001 -0.10442104 0.88669949 0.94908169] [ 0. 0. 0. 1. ]] SLAMing on 127.42538474999999 meters Centerline goodness : 0.901127 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.13, Z:0.95 [[ 0.87921332 -0.11948505 -0.46120198 9.81389839] [ 0.15409113 0.9873271 0.037962 -0.1304152 ] [ 0.45082132 -0.10444383 0.88648272 0.94931429] [ 0. 0. 0. 1. ]] SLAMing on 127.45538475 meters Centerline goodness : 0.901747 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87895563 -0.11974813 -0.46162473 9.81538524] [ 0.15437006 0.987289 0.03781951 -0.13103609] [ 0.4512282 -0.10450271 0.88626875 0.94968832] [ 0. 0. 0. 1. ]] SLAMing on 127.48538475 meters Centerline goodness : 0.900266 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.878814 -0.11975565 -0.46189234 9.81610288] [ 0.15447471 0.98726806 0.03793872 -0.13118499] [ 0.45146817 -0.10469176 0.88612421 0.95013726] [ 0. 0. 0. 1. ]] SLAMing on 127.51538475 meters Centerline goodness : 0.893587 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87859594 -0.12007496 -0.46222416 9.81728325] [ 0.15472829 0.98723955 0.03764602 -0.13077441] [ 0.45180563 -0.1045948 0.88596366 0.95033706] [ 0. 0. 0. 1. ]] SLAMing on 127.54538475 meters Centerline goodness : 0.901283 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87842962 -0.1203567 -0.46246694 9.81831476] [ 0.15497735 0.98720792 0.03745048 -0.13040037] [ 0.45204361 -0.10456951 0.88584524 0.95045293] [ 0. 0. 0. 1. ]] SLAMing on 127.57538475 meters Centerline goodness : 0.893986 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87831447 -0.12038757 -0.46267756 9.81883845] [ 0.15502218 0.98720221 0.03741558 -0.12998053] [ 0.45225193 -0.10458792 0.88573673 0.95062497] [ 0. 0. 0. 1. ]] SLAMing on 127.60538474999998 meters Centerline goodness : 0.898904 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87833158 -0.12009535 -0.46272102 9.81864835] [ 0.15481059 0.98722714 0.03763312 -0.1299626 ] [ 0.45229119 -0.10468847 0.88570481 0.95082468] [ 0. 0. 0. 1. ]] SLAMing on 127.63538474999999 meters Centerline goodness : 0.899765 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.87842997 -0.11934346 -0.46272878 9.81662117] [ 0.15432206 0.98727684 0.03832934 -0.13035196] [ 0.45226705 -0.1050789 0.8856709 0.95191947] [ 0. 0. 0. 1. ]] SLAMing on 127.66538474999999 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.13, Z:0.95 [[ 0.8782705 -0.11912541 -0.46308753 9.81655342] [ 0.15431286 0.98726393 0.03869723 -0.13027552] [ 0.45257979 -0.105447 0.88546737 0.95299015] [ 0. 0. 0. 1. ]] SLAMing on 127.69538474999999 meters Centerline goodness : 0.902868 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.13, Z:0.95 [[ 0.87838691 -0.11775168 -0.46321808 9.81461233] [ 0.15313372 0.98742063 0.03937718 -0.1284815 ] [ 0.45275436 -0.10552271 0.8853691 0.95346122] [ 0. 0. 0. 1. ]] SLAMing on 127.72538474999999 meters Centerline goodness : 0.905680 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.13, Z:0.95 [[ 0.87830641 -0.11771853 -0.46337911 9.81499381] [ 0.15293449 0.98746575 0.03901842 -0.1263669 ] [ 0.45297781 -0.10513678 0.88530072 0.95308765] [ 0. 0. 0. 1. ]] SLAMing on 127.75538474999999 meters Centerline goodness : 0.898504 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.12, Z:0.95 [[ 0.87832447 -0.11694197 -0.46354149 9.81432488] [ 0.15196451 0.9876246 0.038787 -0.12343504] [ 0.45326915 -0.10450943 0.88522588 0.95259901] [ 0. 0. 0. 1. ]] SLAMing on 127.78538474999999 meters Centerline goodness : 0.900758 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.12, Z:0.95 [[ 0.87833878 -0.11673402 -0.46356678 9.81446741] [ 0.15158967 0.98769324 0.03850508 -0.12154676] [ 0.45336692 -0.10409244 0.88522494 0.95201623] [ 0. 0. 0. 1. ]] SLAMing on 127.81538474999999 meters Centerline goodness : 0.899518 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.95 [[ 0.87832771 -0.11214768 -0.46471856 9.81619395] [ 0.14813183 0.98809562 0.04152116 -0.11847895] [ 0.45452987 -0.1053088 0.8844844 0.9523151 ] [ 0. 0. 0. 1. ]] SLAMing on 127.84538475 meters Centerline goodness : 0.896977 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.95 [[ 0.87831203 -0.1120401 -0.46477413 9.81652209] [ 0.1477514 0.98817425 0.04100205 -0.11597345] [ 0.45468396 -0.10468362 0.88447942 0.95149325] [ 0. 0. 0. 1. ]] SLAMing on 127.87538475 meters Centerline goodness : 0.895552 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.95 [[ 0.87816927 -0.11176477 -0.46511006 9.81674035] [ 0.1472073 0.9882778 0.04045986 -0.11251598] [ 0.45513596 -0.10399821 0.88432778 0.95110019] [ 0. 0. 0. 1. ]] SLAMing on 127.90538475 meters Centerline goodness : 0.893409 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.95 [[ 0.87796741 -0.11206162 -0.46541962 9.81727843] [ 0.14749502 0.98824183 0.04029018 -0.1117009 ] [ 0.45543216 -0.10402054 0.88417265 0.9515935 ] [ 0. 0. 0. 1. ]] SLAMing on 127.93538475 meters Centerline goodness : 0.893247 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.95 [[ 0.87762418 -0.11267183 -0.46591937 9.81794388] [ 0.14818773 0.98814298 0.04017275 -0.11131984] [ 0.45586861 -0.10430011 0.88391475 0.95285709] [ 0. 0. 0. 1. ]] SLAMing on 127.96538474999998 meters Centerline goodness : 0.896514 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.95 [[ 0.87735472 -0.11282849 -0.4663887 9.81865816] [ 0.14848647 0.98809341 0.04028875 -0.11129118] [ 0.45628988 -0.10459994 0.88366192 0.95387345] [ 0. 0. 0. 1. ]] SLAMing on 127.99538474999999 meters Centerline goodness : 0.896134 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.96 [[ 0.87716006 -0.10813161 -0.46786513 9.81991503] [ 0.14568949 0.98831898 0.04472331 -0.11182995] [ 0.45756399 -0.10739253 0.88266757 0.95693173] [ 0. 0. 0. 1. ]] SLAMing on 128.02538475 meters Centerline goodness : 0.897068 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.96 [[ 0.87727095 -0.107501 -0.46780253 9.81903023] [ 0.14517093 0.9883777 0.04511015 -0.112214 ] [ 0.45751621 -0.10748515 0.88268107 0.95707492] [ 0. 0. 0. 1. ]] SLAMing on 128.05538475 meters Centerline goodness : 0.899638 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.11, Z:0.96 [[ 0.87655649 -0.10928403 -0.46872776 9.82114919] [ 0.14762566 0.98798591 0.04572196 -0.11477897] [ 0.45809975 -0.10927413 0.88215859 0.96103732] [ 0. 0. 0. 1. ]] SLAMing on 128.08538475 meters Centerline goodness : 0.903326 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.96 [[ 0.87606945 -0.10930329 -0.46963295 9.82173367] [ 0.14834285 0.98782729 0.04681501 -0.11705251] [ 0.45879921 -0.11067989 0.88161967 0.96429622] [ 0. 0. 0. 1. ]] SLAMing on 128.11538475 meters Centerline goodness : 0.901342 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.96 [[ 0.87600025 -0.10909944 -0.4698094 9.82193118] [ 0.14823874 0.98783373 0.04700856 -0.11722976] [ 0.45896496 -0.11082346 0.88151536 0.96466534] [ 0. 0. 0. 1. ]] SLAMing on 128.14538475 meters Centerline goodness : 0.902393 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.96 [[ 0.87585084 -0.1093602 -0.47002729 9.82329996] [ 0.14833635 0.98783975 0.04657211 -0.11589566] [ 0.4592185 -0.11051235 0.88142237 0.96425461] [ 0. 0. 0. 1. ]] SLAMing on 128.17538475 meters Centerline goodness : 0.905865 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.12, Z:0.96 [[ 0.87561892 -0.10948497 -0.47043017 9.82477491] [ 0.14852664 0.98781183 0.0465578 -0.1166889 ] [ 0.4595991 -0.11063831 0.88120816 0.96465499] [ 0. 0. 0. 1. ]] SLAMing on 128.20538475 meters Centerline goodness : 0.901172 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87521021 -0.11001517 -0.47106661 9.82647473] [ 0.14914435 0.98772514 0.04642211 -0.11694969] [ 0.4601772 -0.11088603 0.88087527 0.96566529] [ 0. 0. 0. 1. ]] SLAMing on 128.23538475 meters Centerline goodness : 0.902685 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87469432 -0.11534122 -0.47075074 9.82778756] [ 0.15297137 0.98732388 0.04232399 -0.11638771] [ 0.45990174 -0.10903194 0.88125049 0.96510249] [ 0. 0. 0. 1. ]] SLAMing on 128.26538475 meters Centerline goodness : 0.902160 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87429166 -0.11568361 -0.47141426 9.82939089] [ 0.15358864 0.9872167 0.04258776 -0.11812777] [ 0.46046132 -0.109638 0.88088301 0.96663482] [ 0. 0. 0. 1. ]] SLAMing on 128.29538475 meters Centerline goodness : 0.899097 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.8741503 -0.11559082 -0.47169908 9.82989633] [ 0.15366001 0.98719433 0.04284797 -0.11860639] [ 0.46070583 -0.10993685 0.88071791 0.96731018] [ 0. 0. 0. 1. ]] SLAMing on 128.32538475 meters Centerline goodness : 0.897030 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87383354 -0.11613345 -0.47215248 9.83211975] [ 0.15431278 0.98709451 0.04280183 -0.11998427] [ 0.46108839 -0.11026084 0.88047717 0.96793277] [ 0. 0. 0. 1. ]] SLAMing on 128.35538475 meters Centerline goodness : 0.897030 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87383354 -0.11613345 -0.47215248 9.83211975] [ 0.15431278 0.98709451 0.04280183 -0.11998427] [ 0.46108839 -0.11026084 0.88047717 0.96793277] [ 0. 0. 0. 1. ]] SLAMing on 128.38538475000001 meters Centerline goodness : 0.900162 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87346596 -0.116357 -0.47277719 9.83371971] [ 0.1548153 0.98700242 0.04310963 -0.12134704] [ 0.46161612 -0.11084793 0.88012686 0.9692858 ] [ 0. 0. 0. 1. ]] SLAMing on 128.41538475000002 meters Centerline goodness : 0.901509 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.8732527 -0.12105485 -0.47199094 9.83346095] [ 0.15802353 0.98665244 0.03931307 -0.12111345] [ 0.46093198 -0.10891592 0.88072642 0.96825246] [ 0. 0. 0. 1. ]] SLAMing on 128.44538475000002 meters Centerline goodness : 0.904226 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.12, Z:0.97 [[ 0.87290473 -0.12125277 -0.47258343 9.83499455] [ 0.15872187 0.98651027 0.04006058 -0.12440863] [ 0.46135095 -0.1099784 0.88037495 0.97018145] [ 0. 0. 0. 1. ]] SLAMing on 128.47538475000002 meters Centerline goodness : 0.905849 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.13, Z:0.97 [[ 0.87252596 -0.12568974 -0.47212344 9.8349862 ] [ 0.1621134 0.98607503 0.03708487 -0.12653194] [ 0.46088794 -0.10889505 0.88075205 0.97064405] [ 0. 0. 0. 1. ]] SLAMing on 128.50538475000002 meters Centerline goodness : 0.909494 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.13, Z:0.97 [[ 0.87227327 -0.12580849 -0.47255853 9.83595575] [ 0.16252285 0.98599215 0.03749409 -0.12820523] [ 0.46122192 -0.10950665 0.88050135 0.97191228] [ 0. 0. 0. 1. ]] SLAMing on 128.53538475 meters Centerline goodness : 0.910469 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.13, Z:0.97 [[ 0.8720007 -0.12926009 -0.47212987 9.83824804] [ 0.16533233 0.98559796 0.03552291 -0.12983148] [ 0.46073854 -0.10903433 0.88081298 0.97175346] [ 0. 0. 0. 1. ]] SLAMing on 128.56538475 meters Centerline goodness : 0.910286 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.13, Z:0.97 [[ 0.8716252 -0.12995886 -0.47263116 9.84038317] [ 0.16622099 0.98544652 0.03557721 -0.13079659] [ 0.46112916 -0.10957121 0.88054191 0.97272647] [ 0. 0. 0. 1. ]] SLAMing on 128.59538475 meters Centerline goodness : 0.912591 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.13, Z:0.98 [[ 0.86966419 -0.13895601 -0.47368282 9.853859 ] [ 0.17665366 0.98362247 0.03578156 -0.13034076] [ 0.46095301 -0.11479575 0.87996833 0.98218271] [ 0. 0. 0. 1. ]] SLAMing on 128.62538475 meters Centerline goodness : 0.908745 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.13, Z:0.98 [[ 0.86943912 -0.13895401 -0.4740964 9.85513928] [ 0.17713933 0.98350517 0.03659568 -0.13154773] [ 0.46119114 -0.11579883 0.87971209 0.98265386] [ 0. 0. 0. 1. ]] SLAMing on 128.65538475 meters Centerline goodness : 0.905915 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.13, Z:0.98 [[ 0.87016209 -0.13218453 -0.47470537 9.85600892] [ 0.17290922 0.98400079 0.04295161 -0.13396679] [ 0.46143292 -0.1194558 0.87909611 0.98241718] [ 0. 0. 0. 1. ]] SLAMing on 128.68538475 meters Centerline goodness : 0.904257 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.14, Z:0.99 [[ 0.8756485 -0.11785531 -0.46834798 9.85949453] [ 0.16182377 0.98530741 0.05461116 -0.13875292] [ 0.45503052 -0.12361001 0.88185474 0.98602958] [ 0. 0. 0. 1. ]] SLAMing on 128.71538475 meters Centerline goodness : 0.905885 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.13, Z:0.99 [[ 0.87831545 -0.12036281 -0.46268214 9.87161988] [ 0.15925016 0.98617712 0.04576105 -0.13442039] [ 0.45077861 -0.11387484 0.8853424 0.98650526] [ 0. 0. 0. 1. ]] SLAMing on 128.74538475 meters Centerline goodness : 0.908327 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.13, Z:0.99 [[ 0.8783026 -0.11992092 -0.46282126 9.8703249 ] [ 0.15892389 0.98621606 0.0460552 -0.13389736] [ 0.45091878 -0.11400376 0.88525443 0.98739782] [ 0. 0. 0. 1. ]] SLAMing on 128.77538475 meters Centerline goodness : 0.907392 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.13, Z:0.99 [[ 0.87870804 -0.11746629 -0.46268116 9.86589459] [ 0.15666136 0.98653039 0.0470638 -0.13157893] [ 0.45092061 -0.1138396 0.88527462 0.98785779] [ 0. 0. 0. 1. ]] SLAMing on 128.80538475 meters Centerline goodness : 0.910744 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.13, Z:0.99 [[ 0.88158202 -0.11848125 -0.45691939 9.87883537] [ 0.15389679 0.98723868 0.04093364 -0.12705679] [ 0.44623863 -0.10640479 0.88856576 0.99010028] [ 0. 0. 0. 1. ]] SLAMing on 128.83538475 meters Centerline goodness : 0.912030 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.12, Z:0.99 [[ 0.88177338 -0.11789159 -0.45670262 9.87748742] [ 0.15322223 0.98734238 0.04096301 -0.12496289] [ 0.44609266 -0.10609709 0.88867584 0.98972951] [ 0. 0. 0. 1. ]] SLAMing on 128.86538475 meters Centerline goodness : 0.919711 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.12, Z:0.99 [[ 0.88218014 -0.11196449 -0.45740809 9.87543937] [ 0.14895672 0.98779672 0.04549221 -0.12411321] [ 0.4467327 -0.10826634 0.8880925 0.9914703 ] [ 0. 0. 0. 1. ]] SLAMing on 128.89538475 meters Centerline goodness : 0.923974 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.12, Z:0.99 [[ 0.88217998 -0.11163226 -0.45748959 9.87559352] [ 0.14821658 0.98794246 0.04473862 -0.12071529] [ 0.44697912 -0.10727505 0.88808881 0.99028469] [ 0. 0. 0. 1. ]] SLAMing on 128.92538475 meters Centerline goodness : 0.921405 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.12, Z:0.99 [[ 0.88202294 -0.11207201 -0.45768482 9.87720546] [ 0.14836406 0.98795345 0.04400096 -0.11831437] [ 0.44724003 -0.10671383 0.88802507 0.98945054] [ 0. 0. 0. 1. ]] SLAMing on 128.95538475 meters Centerline goodness : 0.911374 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.12, Z:0.99 [[ 0.88204861 -0.11200187 -0.45765252 9.8780756 ] [ 0.1478527 0.98806762 0.04315031 -0.11546296] [ 0.44735872 -0.10572583 0.88808346 0.9878543 ] [ 0. 0. 0. 1. ]] SLAMing on 128.98538475 meters Centerline goodness : 0.918526 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.11, Z:0.99 [[ 0.88208097 -0.1120205 -0.45758559 9.87834073] [ 0.14771197 0.98810186 0.0428472 -0.11427024] [ 0.44734141 -0.10538557 0.88813261 0.98728048] [ 0. 0. 0. 1. ]] SLAMing on 129.01538475 meters Centerline goodness : 0.906283 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.11, Z:0.99 [[ 0.88194912 -0.10788513 -0.45883173 9.88146327] [ 0.14498411 0.98835047 0.04629211 -0.11373929] [ 0.44849233 -0.10735059 0.88731645 0.98826882] [ 0. 0. 0. 1. ]] SLAMing on 129.04538475 meters Centerline goodness : 0.914575 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.11, Z:0.99 [[ 0.8818033 -0.10844176 -0.45898075 9.88294049] [ 0.14526969 0.98834148 0.04558319 -0.11220508] [ 0.44868659 -0.1068714 0.88727608 0.98760796] [ 0. 0. 0. 1. ]] SLAMing on 129.07538475 meters Centerline goodness : 0.911700 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.11, Z:0.99 [[ 0.88154345 -0.11262005 -0.45847341 9.88182565] [ 0.14802819 0.98809479 0.04190863 -0.11114556] [ 0.44829544 -0.10481127 0.88771944 0.98724963] [ 0. 0. 0. 1. ]] SLAMing on 129.10538475 meters Centerline goodness : 0.914066 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.11, Z:0.99 [[ 0.88133213 -0.11286269 -0.45881989 9.88240614] [ 0.14834203 0.98804807 0.0419006 -0.11144478] [ 0.44860709 -0.10499062 0.88754079 0.98806649] [ 0. 0. 0. 1. ]] SLAMing on 129.13538475000001 meters Centerline goodness : 0.915057 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.11, Z:0.99 [[ 0.88083047 -0.11394138 -0.4595161 9.88510528] [ 0.14944158 0.98789925 0.04150039 -0.1119271 ] [ 0.449227 -0.10522562 0.88719934 0.98903567] [ 0. 0. 0. 1. ]] SLAMing on 129.16538475000002 meters Centerline goodness : 0.912566 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.11, Z:0.99 [[ 0.88064047 -0.1147714 -0.45967368 9.88740625] [ 0.15013878 0.98781454 0.04099741 -0.11160304] [ 0.44936702 -0.10511883 0.88714109 0.98859522] [ 0. 0. 0. 1. ]] SLAMing on 129.19538475000002 meters Centerline goodness : 0.912403 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:0.99 [[ 0.87914722 -0.11885276 -0.46149127 9.89517969] [ 0.15520236 0.98701202 0.04146692 -0.11124963] [ 0.45056897 -0.10808007 0.8861751 0.99452973] [ 0. 0. 0. 1. ]] SLAMing on 129.22538475000002 meters Centerline goodness : 0.911722 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87870307 -0.11972077 -0.46211237 9.89748287] [ 0.15612742 0.98687721 0.04120198 -0.11148742] [ 0.45111544 -0.10835272 0.88586373 0.99539963] [ 0. 0. 0. 1. ]] SLAMing on 129.25538475000002 meters Centerline goodness : 0.903290 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:0.99 [[ 0.87837358 -0.12062421 -0.46250369 9.9014577 ] [ 0.15677383 0.98680897 0.04037362 -0.1095845 ] [ 0.45153275 -0.10797159 0.88569764 0.99419845] [ 0. 0. 0. 1. ]] SLAMing on 129.28538475 meters Centerline goodness : 0.907617 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87792642 -0.12100188 -0.46325344 9.90246302] [ 0.15754193 0.98666723 0.04084512 -0.11065856] [ 0.45213465 -0.10884085 0.88528409 0.99639206] [ 0. 0. 0. 1. ]] SLAMing on 129.31538475 meters Centerline goodness : 0.910632 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87785075 -0.12024404 -0.46359403 9.90114322] [ 0.15714074 0.98669821 0.04163456 -0.11148011] [ 0.45242109 -0.10939844 0.885069 0.99809684] [ 0. 0. 0. 1. ]] SLAMing on 129.34538475 meters Centerline goodness : 0.906635 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.8778746 -0.12002461 -0.46360573 9.90119848] [ 0.15699734 0.98671263 0.04183334 -0.11090212] [ 0.4524246 -0.10950929 0.8850535 0.99816032] [ 0. 0. 0. 1. ]] SLAMing on 129.37538475 meters Centerline goodness : 0.909575 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87790613 -0.11965732 -0.46364097 9.90061257] [ 0.15676223 0.98673562 0.04217138 -0.1113955 ] [ 0.45244494 -0.1097039 0.885019 0.99865691] [ 0. 0. 0. 1. ]] SLAMing on 129.40538475 meters Centerline goodness : 0.912447 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87802603 -0.11918638 -0.46353523 9.8999369 ] [ 0.15621556 0.98682253 0.04216621 -0.11075219] [ 0.45240137 -0.10943445 0.88507463 0.99839024] [ 0. 0. 0. 1. ]] SLAMing on 129.43538475 meters Centerline goodness : 0.911452 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.8780447 -0.11865547 -0.46363605 9.89971989] [ 0.15559529 0.98692366 0.04209278 -0.10936307] [ 0.45257885 -0.10909893 0.88502532 0.99817353] [ 0. 0. 0. 1. ]] SLAMing on 129.46538475 meters Centerline goodness : 0.914756 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87811871 -0.11828759 -0.46358987 9.89922138] [ 0.15516753 0.98699166 0.04207738 -0.10880297] [ 0.45258211 -0.10888303 0.88505024 0.99793577] [ 0. 0. 0. 1. ]] SLAMing on 129.49538475 meters Centerline goodness : 0.912778 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.11, Z:1.00 [[ 0.87815937 -0.11812058 -0.46355544 9.90007508] [ 0.1546611 0.98709712 0.04146346 -0.10648758] [ 0.45267656 -0.10810552 0.88509724 0.99656902] [ 0. 0. 0. 1. ]] SLAMing on 129.52538475 meters Centerline goodness : 0.910295 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:1.00 [[ 0.87801896 -0.11845268 -0.46373664 9.90151661] [ 0.15484619 0.98708551 0.04104692 -0.10490742] [ 0.4528856 -0.10784783 0.88502174 0.99613687] [ 0. 0. 0. 1. ]] SLAMing on 129.55538475 meters Centerline goodness : 0.909847 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:1.00 [[ 0.87805891 -0.11807341 -0.46375773 9.90176702] [ 0.15429637 0.98718184 0.04080014 -0.10377259] [ 0.45299579 -0.10738106 0.8850221 0.99542694] [ 0. 0. 0. 1. ]] SLAMing on 129.58538475 meters Centerline goodness : 0.906101 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:0.99 [[ 0.87793647 -0.11815549 -0.46396858 9.90309919] [ 0.1541213 0.98723291 0.04022196 -0.10142228] [ 0.45329261 -0.10681977 0.88493805 0.99467097] [ 0. 0. 0. 1. ]] SLAMing on 129.61538475 meters Centerline goodness : 0.905958 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:0.99 [[ 0.87790722 -0.11801684 -0.4640592 9.90344611] [ 0.15391592 0.98726986 0.04010141 -0.10055758] [ 0.45341902 -0.10663141 0.884896 0.99442078] [ 0. 0. 0. 1. ]] SLAMing on 129.64538475 meters Centerline goodness : 0.901798 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:0.99 [[ 0.87798696 -0.11750376 -0.46403854 9.90300799] [ 0.15343726 0.98733632 0.04029877 -0.10039601] [ 0.45342685 -0.1065826 0.88489787 0.99434258] [ 0. 0. 0. 1. ]] SLAMing on 129.67538475 meters Centerline goodness : 0.907920 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:0.99 [[ 0.87791745 -0.11723416 -0.4642382 9.90313182] [ 0.15310989 0.98739122 0.04019889 -0.09904158] [ 0.45367204 -0.10637077 0.88479768 0.99432183] [ 0. 0. 0. 1. ]] SLAMing on 129.70538475 meters Centerline goodness : 0.906208 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:0.99 [[ 0.8779512 -0.11695034 -0.46424596 9.90287666] [ 0.15288456 0.98741874 0.04037995 -0.09878256] [ 0.45368271 -0.10642767 0.88478537 0.99439793] [ 0. 0. 0. 1. ]] SLAMing on 129.73538475 meters Centerline goodness : 0.907173 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.10, Z:1.00 [[ 0.87721668 -0.11819105 -0.465319 9.90408816] [ 0.15557861 0.98690356 0.04262234 -0.10158739] [ 0.4541874 -0.10978271 0.88411626 1.00090661] [ 0. 0. 0. 1. ]] SLAMing on 129.76538475 meters Centerline goodness : 0.907816 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87693009 -0.11855643 -0.46576603 9.90506833] [ 0.15604618 0.98683025 0.0426105 -0.10210346] [ 0.45458025 -0.11004744 0.88388141 1.00180249] [ 0. 0. 0. 1. ]] SLAMing on 129.79538475 meters Centerline goodness : 0.904594 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87661649 -0.11905922 -0.46622787 9.90688367] [ 0.15654358 0.98676261 0.04235162 -0.10155181] [ 0.45501388 -0.11011111 0.88365034 1.00219725] [ 0. 0. 0. 1. ]] SLAMing on 129.82538475 meters Centerline goodness : 0.906372 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87659252 -0.11901126 -0.46628518 9.90799696] [ 0.15638872 0.98679622 0.04214014 -0.10149152] [ 0.4551133 -0.10986148 0.88363021 1.00160188] [ 0. 0. 0. 1. ]] SLAMing on 129.85538475 meters Centerline goodness : 0.903836 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87638822 -0.11942988 -0.4665621 9.90944845] [ 0.15677587 0.98674494 0.0419016 -0.10210952] [ 0.45537349 -0.10986775 0.88349537 1.00174551] [ 0. 0. 0. 1. ]] SLAMing on 129.88538475000001 meters Centerline goodness : 0.905836 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87618038 -0.11969975 -0.46688319 9.91129017] [ 0.15706222 0.98670454 0.04178037 -0.10329009] [ 0.45567467 -0.10993685 0.88333147 1.0018779 ] [ 0. 0. 0. 1. ]] SLAMing on 129.91538475000002 meters Centerline goodness : 0.906445 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87597463 -0.11996092 -0.46720212 9.91260991] [ 0.15730778 0.98667306 0.04159958 -0.10364243] [ 0.45598543 -0.10993471 0.88317136 1.00210965] [ 0. 0. 0. 1. ]] SLAMing on 129.94538475000002 meters Centerline goodness : 0.905670 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87589421 -0.11996316 -0.4673523 9.91340532] [ 0.15728781 0.9866798 0.04151527 -0.10398673] [ 0.45614677 -0.10987181 0.88309587 1.00205536] [ 0. 0. 0. 1. ]] SLAMing on 129.97538475000002 meters Centerline goodness : 0.909096 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.10, Z:1.00 [[ 0.87585962 -0.11983793 -0.46744925 9.91409225] [ 0.15713564 0.98670605 0.0414675 -0.10445147] [ 0.45626562 -0.10977265 0.8830468 1.00188452] [ 0. 0. 0. 1. ]] SLAMing on 130.00538475000002 meters Centerline goodness : 0.905756 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87571472 -0.12008916 -0.4676562 9.91547808] [ 0.15735911 0.98667763 0.04129616 -0.10427488] [ 0.45646669 -0.10975362 0.88294524 1.00184782] [ 0. 0. 0. 1. ]] SLAMing on 130.03538475 meters Centerline goodness : 0.903315 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87567909 -0.12017054 -0.46770201 9.9164056 ] [ 0.15741129 0.98667302 0.04120731 -0.10411737] [ 0.45651705 -0.10970595 0.88292513 1.00153327] [ 0. 0. 0. 1. ]] SLAMing on 130.06538475 meters Centerline goodness : 0.900700 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87565358 -0.12032567 -0.46770989 9.91776869] [ 0.15742086 0.98668487 0.04088564 -0.10387226] [ 0.45656268 -0.10942895 0.88293591 1.00074013] [ 0. 0. 0. 1. ]] SLAMing on 130.09538475 meters Centerline goodness : 0.903908 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87544689 -0.12073632 -0.46799091 9.91913339] [ 0.15780266 0.98663349 0.04065325 -0.10376496] [ 0.45682717 -0.10943997 0.88279773 1.00095537] [ 0. 0. 0. 1. ]] SLAMing on 130.12538475 meters Centerline goodness : 0.903330 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87527044 -0.12061068 -0.4683532 9.91934325] [ 0.15783562 0.98661832 0.04089253 -0.10478644] [ 0.45715377 -0.10971484 0.88259452 1.00188544] [ 0. 0. 0. 1. ]] SLAMing on 130.15538475 meters Centerline goodness : 0.906189 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.11, Z:1.00 [[ 0.87505855 -0.1242958 -0.46778529 9.91751226] [ 0.16030982 0.98634271 0.03779987 -0.10572499] [ 0.45669825 -0.10806767 0.88303346 1.00185562] [ 0. 0. 0. 1. ]] SLAMing on 130.18538475 meters Centerline goodness : 0.904941 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.11, Z:1.00 [[ 0.87470341 -0.12496686 -0.46827046 9.91971404] [ 0.16091996 0.98625906 0.03738768 -0.10530886] [ 0.45716376 -0.10805719 0.88279383 1.00210979] [ 0. 0. 0. 1. ]] SLAMing on 130.21538475 meters Centerline goodness : 0.904941 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.11, Z:1.00 [[ 0.87470341 -0.12496686 -0.46827046 9.91971404] [ 0.16091996 0.98625906 0.03738768 -0.10530886] [ 0.45716376 -0.10805719 0.88279383 1.00210979] [ 0. 0. 0. 1. ]] SLAMing on 130.24538475 meters Centerline goodness : 0.904507 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.11, Z:1.00 [[ 0.87450107 -0.12536617 -0.46854157 9.92124107] [ 0.16124658 0.98621745 0.03707675 -0.1050612 ] [ 0.4574357 -0.10797438 0.88266308 1.00207849] [ 0. 0. 0. 1. ]] SLAMing on 130.27538475 meters Centerline goodness : 0.903026 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.8741181 -0.12614147 -0.46904783 9.92346322] [ 0.16196511 0.98611598 0.03664129 -0.10438412] [ 0.45791358 -0.1079982 0.88241234 1.00239901] [ 0. 0. 0. 1. ]] SLAMing on 130.30538475 meters Centerline goodness : 0.902256 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.10, Z:1.00 [[ 0.87391369 -0.12642572 -0.4693521 9.92448025] [ 0.16238141 0.98604367 0.0367444 -0.10462168] [ 0.45815623 -0.10832549 0.88224626 1.00306686] [ 0. 0. 0. 1. ]] SLAMing on 130.33538475 meters Centerline goodness : 0.904293 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.11, Z:1.00 [[ 0.87337027 -0.13180489 -0.46888361 9.92465196] [ 0.16646585 0.98549341 0.03304333 -0.10501433] [ 0.45772644 -0.10691217 0.88264166 1.00342502] [ 0. 0. 0. 1. ]] SLAMing on 130.36538475 meters Centerline goodness : 0.907450 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87201417 -0.13458283 -0.47061528 9.9295181 ] [ 0.17106221 0.98462443 0.03539011 -0.10672665] [ 0.4586164 -0.11136516 0.88162849 1.01205635] [ 0. 0. 0. 1. ]] SLAMing on 130.39538475 meters Centerline goodness : 0.909105 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87269811 -0.13221379 -0.47001864 9.9278263 ] [ 0.1701379 0.98465125 0.03892303 -0.10708626] [ 0.45765828 -0.11393604 0.88179787 1.01163111] [ 0. 0. 0. 1. ]] SLAMing on 130.42538475 meters Centerline goodness : 0.909793 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87251075 -0.13279909 -0.47020145 9.92960633] [ 0.17058063 0.98459315 0.03845237 -0.10573297] [ 0.45785068 -0.11375736 0.88172105 1.01127277] [ 0. 0. 0. 1. ]] SLAMing on 130.45538475 meters Centerline goodness : 0.912736 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87221674 -0.13291834 -0.47071295 9.93014635] [ 0.17089367 0.98453104 0.0386522 -0.10683163] [ 0.45829392 -0.11415496 0.88143935 1.01263494] [ 0. 0. 0. 1. ]] SLAMing on 130.48538475 meters Centerline goodness : 0.909029 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87194563 -0.13313009 -0.47115517 9.93106869] [ 0.17123439 0.98446904 0.03872317 -0.10740494] [ 0.45868246 -0.11444247 0.88119993 1.01359009] [ 0. 0. 0. 1. ]] SLAMing on 130.51538475 meters Centerline goodness : 0.908400 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87172012 -0.13759625 -0.47028853 9.93052815] [ 0.17424246 0.98407867 0.03505322 -0.10745804] [ 0.45797772 -0.11250082 0.88181629 1.01254363] [ 0. 0. 0. 1. ]] SLAMing on 130.54538475 meters Centerline goodness : 0.909342 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87146278 -0.13805737 -0.47063019 9.93206752] [ 0.17472757 0.98399845 0.0348901 -0.10801305] [ 0.45828255 -0.11263749 0.88164046 1.01296673] [ 0. 0. 0. 1. ]] SLAMing on 130.57538475 meters Centerline goodness : 0.909865 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.11, Z:1.01 [[ 0.87114406 -0.13861539 -0.47105606 9.93375358] [ 0.17527936 0.98390981 0.03462121 -0.10816996] [ 0.45867764 -0.11272647 0.8814236 1.01342688] [ 0. 0. 0. 1. ]] SLAMing on 130.60538475 meters Centerline goodness : 0.907467 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.11, Z:1.01 [[ 0.87084354 -0.13891395 -0.47152354 9.93503618] [ 0.17566895 0.98384136 0.03459188 -0.10819042] [ 0.45909907 -0.11295616 0.88117476 1.01414542] [ 0. 0. 0. 1. ]] SLAMing on 130.63538475000001 meters Centerline goodness : 0.909554 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.11, Z:1.01 [[ 0.870527 -0.13926115 -0.47200538 9.93607273] [ 0.17589514 0.98381675 0.03413947 -0.10599147] [ 0.45961249 -0.11274279 0.8809344 1.01444491] [ 0. 0. 0. 1. ]] SLAMing on 130.66538475000002 meters Centerline goodness : 0.907109 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.01 [[ 0.87033654 -0.13952862 -0.47227753 9.93678627] [ 0.17604532 0.98380255 0.03377265 -0.10440904] [ 0.45991558 -0.11253582 0.88080267 1.01452328] [ 0. 0. 0. 1. ]] SLAMing on 130.69538475000002 meters Centerline goodness : 0.905288 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.01 [[ 0.87019904 -0.13972235 -0.47247359 9.93719439] [ 0.1761417 0.98379517 0.0334837 -0.10298695] [ 0.46013881 -0.11235979 0.88070855 1.01456639] [ 0. 0. 0. 1. ]] SLAMing on 130.72538475000002 meters Centerline goodness : 0.905599 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.01 [[ 0.87012209 -0.13958861 -0.4726548 9.93784162] [ 0.17575686 0.98388078 0.03298681 -0.09934479] [ 0.4604314 -0.11177488 0.88063006 1.01371896] [ 0. 0. 0. 1. ]] SLAMing on 130.75538475000002 meters Centerline goodness : 0.906320 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.01 [[ 0.86996968 -0.13995399 -0.47282728 9.93870236] [ 0.17605205 0.98383712 0.03271389 -0.09820952] [ 0.46060659 -0.11170231 0.88054765 1.01377445] [ 0. 0. 0. 1. ]] SLAMing on 130.78538475 meters Centerline goodness : 0.906447 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.01 [[ 0.8695644 -0.14084363 -0.47330838 9.94004467] [ 0.17688973 0.98370185 0.03225988 -0.09716295] [ 0.46105073 -0.11177543 0.8803059 1.01466431] [ 0. 0. 0. 1. ]] SLAMing on 130.81538475 meters Centerline goodness : 0.904850 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.02 [[ 0.86922766 -0.1416013 -0.4737007 9.9413087 ] [ 0.17764185 0.98357637 0.03195165 -0.09585205] [ 0.46139642 -0.11192232 0.8801061 1.01532186] [ 0. 0. 0. 1. ]] SLAMing on 130.84538475 meters Centerline goodness : 0.906183 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.09, Z:1.02 [[ 0.86890848 -0.14238758 -0.47405045 9.943173 ] [ 0.17837728 0.98345586 0.03156128 -0.0947111 ] [ 0.46171376 -0.11198369 0.87993185 1.01560025] [ 0. 0. 0. 1. ]] SLAMing on 130.87538475 meters Centerline goodness : 0.905286 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.02 [[ 0.86904093 -0.14461426 -0.47313274 9.94191597] [ 0.18058292 0.98306431 0.03121498 -0.09544097] [ 0.46060578 -0.11256678 0.88043798 1.01506294] [ 0. 0. 0. 1. ]] SLAMing on 130.90538475 meters Centerline goodness : 0.907441 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.02 [[ 0.86886418 -0.14662979 -0.4728369 9.9413806 ] [ 0.18224578 0.98279167 0.03011671 -0.09624242] [ 0.46028416 -0.11233986 0.88063514 1.01557613] [ 0. 0. 0. 1. ]] SLAMing on 130.93538475 meters Centerline goodness : 0.911817 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.09, Z:1.02 [[ 0.86912981 -0.14635696 -0.47243307 9.93973214] [ 0.18209069 0.98280791 0.03052213 -0.09470611] [ 0.45984383 -0.11255335 0.88083789 1.01551998] [ 0. 0. 0. 1. ]] SLAMing on 130.96538475 meters Centerline goodness : 0.912364 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.09, Z:1.02 [[ 0.86972227 -0.14247559 -0.47252924 9.93846956] [ 0.17924451 0.98323575 0.03344947 -0.09453948] [ 0.45984191 -0.11379002 0.88067999 1.01587887] [ 0. 0. 0. 1. ]] SLAMing on 130.99538475 meters Centerline goodness : 0.914592 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.02 [[ 0.87473517 -0.13216212 -0.46623122 9.94220473] [ 0.17098453 0.98438856 0.04175461 -0.09769136] [ 0.4534343 -0.11624255 0.88367698 1.02058424] [ 0. 0. 0. 1. ]] SLAMing on 131.02538475 meters Centerline goodness : 0.921077 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.10, Z:1.02 [[ 0.87466186 -0.1317338 -0.46648991 9.93984656] [ 0.16975359 0.98466537 0.04022227 -0.09562382] [ 0.45403782 -0.11436923 0.88361153 1.02241939] [ 0. 0. 0. 1. ]] SLAMing on 131.05538475 meters Centerline goodness : 0.920194 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.10, Z:1.03 [[ 0.87939676 -0.12277107 -0.45998762 9.94524453] [ 0.16201192 0.98568544 0.04665147 -0.09902563] [ 0.44767565 -0.11554862 0.88669895 1.02563221] [ 0. 0. 0. 1. ]] SLAMing on 131.08538475 meters Centerline goodness : 0.921538 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.10, Z:1.03 [[ 0.8790989 -0.12350692 -0.46035982 9.94690377] [ 0.16250694 0.98563965 0.04589097 -0.09700903] [ 0.44808104 -0.11515437 0.88654546 1.02548549] [ 0. 0. 0. 1. ]] SLAMing on 131.11538475 meters Centerline goodness : 0.917779 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.09, Z:1.02 [[ 0.87903212 -0.124065 -0.46033727 9.94817551] [ 0.16251596 0.98569392 0.04467732 -0.09352089] [ 0.44820875 -0.11408495 0.88661916 1.02388919] [ 0. 0. 0. 1. ]] SLAMing on 131.14538475 meters Centerline goodness : 0.915818 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.09, Z:1.02 [[ 0.87883941 -0.12485225 -0.46049234 9.95030808] [ 0.16297371 0.98565805 0.04379247 -0.09099183] [ 0.4484204 -0.1135347 0.88658278 1.02295667] [ 0. 0. 0. 1. ]] SLAMing on 131.17538475 meters Centerline goodness : 0.911969 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.09, Z:1.02 [[ 0.87879882 -0.12554803 -0.46038062 9.95203294] [ 0.16305765 0.98570302 0.04244705 -0.08738934] [ 0.44846943 -0.11237101 0.88670623 1.02093911] [ 0. 0. 0. 1. ]] SLAMing on 131.20538475 meters Centerline goodness : 0.910989 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.09, Z:1.02 [[ 0.87881136 -0.12549925 -0.46037 9.95257468] [ 0.16275933 0.98577282 0.04196841 -0.08508048] [ 0.44855323 -0.11181183 0.88673452 1.02006575] [ 0. 0. 0. 1. ]] SLAMing on 131.23538475 meters Centerline goodness : 0.907367 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:1.02 [[ 0.87877499 -0.125533 -0.46043021 9.95285058] [ 0.16263697 0.98580716 0.04163492 -0.08376224] [ 0.44866884 -0.1114707 0.88671898 1.01973457] [ 0. 0. 0. 1. ]] SLAMing on 131.26538475 meters Centerline goodness : 0.906679 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:1.02 [[ 0.87874684 -0.12540571 -0.46051862 9.95263782] [ 0.1622845 0.98588368 0.04119605 -0.0816825 ] [ 0.44885157 -0.11093593 0.88669357 1.01941628] [ 0. 0. 0. 1. ]] SLAMing on 131.29538475 meters Centerline goodness : 0.907118 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:1.02 [[ 0.87850743 -0.1257254 -0.46088807 9.95365681] [ 0.16247198 0.9858711 0.04075567 -0.08001203] [ 0.44925221 -0.11068555 0.88652195 1.01952484] [ 0. 0. 0. 1. ]] SLAMing on 131.32538475 meters Centerline goodness : 0.908034 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:1.02 [[ 0.87844707 -0.12592857 -0.46094766 9.95390336] [ 0.16238485 0.98591163 0.04011746 -0.07728725] [ 0.44940173 -0.11009198 0.88652007 1.01896786] [ 0. 0. 0. 1. ]] SLAMing on 131.35538475 meters Centerline goodness : 0.910131 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:1.02 [[ 0.87815963 -0.1263211 -0.46138773 9.95497464] [ 0.16270204 0.98587409 0.03975324 -0.07570642] [ 0.44984854 -0.10997842 0.88630753 1.01938921] [ 0. 0. 0. 1. ]] SLAMing on 131.38538475000001 meters Centerline goodness : 0.910893 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:1.02 [[ 0.8780393 -0.12614327 -0.46166532 9.95483188] [ 0.16249236 0.98591253 0.0396574 -0.0737414 ] [ 0.45015911 -0.10983784 0.88616726 1.01977025] [ 0. 0. 0. 1. ]] SLAMing on 131.41538475000002 meters Centerline goodness : 0.912041 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:1.02 [[ 0.87758873 -0.13139123 -0.46105788 9.95439392] [ 0.16634053 0.98541849 0.03579427 -0.07369066] [ 0.44963191 -0.10810526 0.88664784 1.01985178] [ 0. 0. 0. 1. ]] SLAMing on 131.44538475000002 meters Centerline goodness : 0.914906 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87716075 -0.13271929 -0.46149173 9.95611042] [ 0.16779586 0.98517855 0.0356057 -0.0733648 ] [ 0.44992619 -0.10866832 0.8864297 1.02123441] [ 0. 0. 0. 1. ]] SLAMing on 131.47538475000002 meters Centerline goodness : 0.913719 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87719361 -0.13198619 -0.46163949 9.95707473] [ 0.16740497 0.98521538 0.03641749 -0.07336134] [ 0.45000772 -0.10922593 0.88631978 1.02106583] [ 0. 0. 0. 1. ]] SLAMing on 131.50538475000002 meters Centerline goodness : 0.911661 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87760789 -0.12722785 -0.46218769 9.95827784] [ 0.16421399 0.9855928 0.0405044 -0.07363949] [ 0.45037557 -0.11144466 0.88585661 1.02076086] [ 0. 0. 0. 1. ]] SLAMing on 131.53538475 meters Centerline goodness : 0.910578 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87763903 -0.12716138 -0.46214685 9.95883114] [ 0.16403338 0.98563095 0.04030733 -0.07285818] [ 0.4503807 -0.1111828 0.8858869 1.02020902] [ 0. 0. 0. 1. ]] SLAMing on 131.56538475 meters Centerline goodness : 0.910058 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.877628 -0.13064276 -0.4611958 9.95638569] [ 0.16617546 0.98539848 0.03708849 -0.07315103] [ 0.4496163 -0.10918932 0.88652291 1.01952719] [ 0. 0. 0. 1. ]] SLAMing on 131.59538475 meters Centerline goodness : 0.912027 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87746213 -0.13065085 -0.46150902 9.95704954] [ 0.16627729 0.98537763 0.03718583 -0.07328383] [ 0.4499023 -0.10936763 0.88635582 1.02016488] [ 0. 0. 0. 1. ]] SLAMing on 131.62538475 meters Centerline goodness : 0.913612 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.877196 -0.13100025 -0.4619157 9.958742 ] [ 0.1666809 0.98531279 0.0370968 -0.07408612] [ 0.45027175 -0.10953369 0.88614768 1.02070743] [ 0. 0. 0. 1. ]] SLAMing on 131.65538475 meters Centerline goodness : 0.913589 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87702097 -0.13124212 -0.46217933 9.96000138] [ 0.16691958 0.98527754 0.03695979 -0.07410388] [ 0.45052423 -0.10956129 0.88601594 1.02086173] [ 0. 0. 0. 1. ]] SLAMing on 131.68538475 meters Centerline goodness : 0.910858 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.07, Z:1.02 [[ 0.87675142 -0.13203739 -0.46246413 9.96222084] [ 0.16761539 0.9851768 0.03649334 -0.07459803] [ 0.45079044 -0.10951169 0.88588666 1.02089991] [ 0. 0. 0. 1. ]] SLAMing on 131.71538475 meters Centerline goodness : 0.912968 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.08, Z:1.02 [[ 0.87655854 -0.13225742 -0.46276679 9.96326814] [ 0.16788867 0.98513143 0.03646178 -0.07513858] [ 0.45106377 -0.10965419 0.88572989 1.02135071] [ 0. 0. 0. 1. ]] SLAMing on 131.74538475 meters Centerline goodness : 0.915897 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.08, Z:1.02 [[ 0.8764643 -0.13291334 -0.46275736 9.96436283] [ 0.16870208 0.98498681 0.03661414 -0.07802882] [ 0.45094339 -0.11015912 0.88572853 1.02134334] [ 0. 0. 0. 1. ]] SLAMing on 131.77538475 meters Centerline goodness : 0.916709 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.87644586 -0.13297788 -0.46277374 9.96526574] [ 0.16888023 0.98494872 0.03681709 -0.07990171] [ 0.45091255 -0.11042152 0.88571156 1.02116924] [ 0. 0. 0. 1. ]] SLAMing on 131.80538475 meters Centerline goodness : 0.913935 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.8762263 -0.13359852 -0.46301069 9.96760606] [ 0.16969093 0.98480349 0.03697402 -0.0831795 ] [ 0.45103487 -0.11096633 0.88558118 1.0209698 ] [ 0. 0. 0. 1. ]] SLAMing on 131.83538475 meters Centerline goodness : 0.916461 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.87598341 -0.13413514 -0.46331504 9.96931216] [ 0.17022618 0.98471925 0.03675653 -0.08398041] [ 0.4513049 -0.11106646 0.88543104 1.02123501] [ 0. 0. 0. 1. ]] SLAMing on 131.86538475 meters Centerline goodness : 0.916727 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.87553826 -0.13482868 -0.46395473 9.97223292] [ 0.1709427 0.98460631 0.03645551 -0.08431311] [ 0.45189751 -0.11122787 0.88510847 1.02173614] [ 0. 0. 0. 1. ]] SLAMing on 131.89538475 meters Centerline goodness : 0.916025 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.8752972 -0.13533315 -0.46426259 9.97374008] [ 0.17142636 0.98453141 0.03620638 -0.08442586] [ 0.45218118 -0.11127819 0.88495726 1.02205772] [ 0. 0. 0. 1. ]] SLAMing on 131.92538475 meters Centerline goodness : 0.919025 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.08, Z:1.02 [[ 0.87514782 -0.13565342 -0.46445069 9.97450989] [ 0.17157874 0.98452163 0.03574768 -0.08389508] [ 0.45241245 -0.11097437 0.8848772 1.02194581] [ 0. 0. 0. 1. ]] SLAMing on 131.95538475 meters Centerline goodness : 0.916321 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.87465666 -0.13713566 -0.46494036 9.97770618] [ 0.17285057 0.98433173 0.03483869 -0.08240558] [ 0.45287792 -0.1108371 0.88465628 1.0220186 ] [ 0. 0. 0. 1. ]] SLAMing on 131.98538475 meters Centerline goodness : 0.917159 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.87447044 -0.13766853 -0.46513313 9.978635 ] [ 0.17328397 0.98426882 0.03446081 -0.08181438] [ 0.45307186 -0.11073508 0.88456974 1.02215074] [ 0. 0. 0. 1. ]] SLAMing on 132.01538475 meters Centerline goodness : 0.917182 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.87420304 -0.1381757 -0.46548526 9.97979479] [ 0.17379886 0.98418524 0.03425459 -0.08117945] [ 0.45339057 -0.11084628 0.8843925 1.02275145] [ 0. 0. 0. 1. ]] SLAMing on 132.04538475 meters Centerline goodness : 0.918657 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.87407147 -0.13802421 -0.46577718 9.9804192 ] [ 0.17359089 0.98422726 0.03410139 -0.08031196] [ 0.45372378 -0.11066173 0.88424471 1.02288028] [ 0. 0. 0. 1. ]] SLAMing on 132.07538475 meters Centerline goodness : 0.918543 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.87406113 -0.13784777 -0.46584884 9.97997283] [ 0.17342061 0.98425604 0.03413706 -0.08015638] [ 0.45380881 -0.11062567 0.88420559 1.0231263 ] [ 0. 0. 0. 1. ]] SLAMing on 132.10538475 meters Centerline goodness : 0.918336 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.02 [[ 0.8738831 -0.13774637 -0.46621267 9.97978477] [ 0.17342351 0.98425108 0.03426518 -0.08071553] [ 0.45415042 -0.110796 0.88400885 1.0242348 ] [ 0. 0. 0. 1. ]] SLAMing on 132.13538475000001 meters Centerline goodness : 0.917136 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.03 [[ 0.87346461 -0.13858726 -0.4667474 9.98173292] [ 0.1742897 0.98410863 0.03396048 -0.08055832] [ 0.45462366 -0.11101254 0.88373839 1.02503331] [ 0. 0. 0. 1. ]] SLAMing on 132.16538475000002 meters Centerline goodness : 0.917136 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.08, Z:1.03 [[ 0.87346461 -0.13858726 -0.4667474 9.98173292] [ 0.1742897 0.98410863 0.03396048 -0.08055832] [ 0.45462366 -0.11101254 0.88373839 1.02503331] [ 0. 0. 0. 1. ]] SLAMing on 132.19538475000002 meters Centerline goodness : 0.916006 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87296509 -0.13982774 -0.46731163 9.98511554] [ 0.17550311 0.98391055 0.03344685 -0.08056337] [ 0.45511605 -0.11121258 0.88345976 1.02546152] [ 0. 0. 0. 1. ]] SLAMing on 132.22538475000002 meters Centerline goodness : 0.913737 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87281926 -0.14011523 -0.46749788 9.98691119] [ 0.17574469 0.98387459 0.03323553 -0.08055653] [ 0.45530248 -0.11116888 0.88336919 1.02520578] [ 0. 0. 0. 1. ]] SLAMing on 132.25538475000002 meters Centerline goodness : 0.916334 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87243355 -0.14048365 -0.46810687 9.98852386] [ 0.17627596 0.98377762 0.03329237 -0.08128217] [ 0.45583603 -0.11156136 0.8830445 1.0263324 ] [ 0. 0. 0. 1. ]] SLAMing on 132.28538475 meters Centerline goodness : 0.912395 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87231479 -0.14040794 -0.46835086 9.98894519] [ 0.17633194 0.98376058 0.03349874 -0.0820189 ] [ 0.45604162 -0.11180666 0.88290731 1.02696452] [ 0. 0. 0. 1. ]] SLAMing on 132.31538475 meters Centerline goodness : 0.913675 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87212752 -0.14023866 -0.46875016 9.98985289] [ 0.17647797 0.98371581 0.03404011 -0.08303014] [ 0.4563432 -0.11241139 0.88267466 1.02811192] [ 0. 0. 0. 1. ]] SLAMing on 132.34538475 meters Centerline goodness : 0.914354 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87193485 -0.14031128 -0.46908672 9.99052023] [ 0.17665697 0.98368042 0.03413421 -0.08271497] [ 0.45664201 -0.11263025 0.88249221 1.02878895] [ 0. 0. 0. 1. ]] SLAMing on 132.37538475 meters Centerline goodness : 0.914118 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87168802 -0.14046005 -0.46950076 9.99103161] [ 0.17700852 0.98360888 0.03437365 -0.08345521] [ 0.45697699 -0.11306873 0.88226271 1.03002125] [ 0. 0. 0. 1. ]] SLAMing on 132.40538475 meters Centerline goodness : 0.910052 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.8714651 -0.14100336 -0.46975167 9.99332409] [ 0.17728135 0.98358487 0.033647 -0.08191255] [ 0.4572963 -0.1126004 0.88215716 1.02926636] [ 0. 0. 0. 1. ]] SLAMing on 132.43538475 meters Centerline goodness : 0.910500 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87127411 -0.1413576 -0.46999941 9.99466558] [ 0.17758196 0.98353951 0.0333868 -0.08136903] [ 0.45754351 -0.11255248 0.88203508 1.02931442] [ 0. 0. 0. 1. ]] SLAMing on 132.46538475 meters Centerline goodness : 0.912029 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.08, Z:1.03 [[ 0.87095837 -0.1413875 -0.47057528 9.99571338] [ 0.17776791 0.98350139 0.03351993 -0.08106248] [ 0.45807214 -0.11284765 0.88172293 1.03032726] [ 0. 0. 0. 1. ]] SLAMing on 132.49538475 meters Centerline goodness : 0.910885 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.08, Z:1.03 [[ 0.87076364 -0.14181239 -0.47080775 9.9972399 ] [ 0.17811998 0.98344822 0.03320942 -0.08024849] [ 0.45830554 -0.11277782 0.88161057 1.030289 ] [ 0. 0. 0. 1. ]] SLAMing on 132.52538475 meters Centerline goodness : 0.922414 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.03 [[ 0.87041474 -0.14540148 -0.47035794 9.99233755] [ 0.18127832 0.98292364 0.0316116 -0.08135205] [ 0.45772957 -0.1127809 0.88190936 1.03401713] [ 0. 0. 0. 1. ]] SLAMing on 132.55538475 meters Centerline goodness : 0.922759 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.08, Z:1.04 [[ 0.87009415 -0.14570885 -0.47085571 9.99295154] [ 0.18176929 0.98282851 0.03174982 -0.07994572] [ 0.45814418 -0.11321244 0.88163873 1.03521375] [ 0. 0. 0. 1. ]] SLAMing on 132.58538475 meters Centerline goodness : 0.920802 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.08, Z:1.03 [[ 0.86983408 -0.14641036 -0.47111854 9.99508415] [ 0.18230461 0.98274754 0.03118185 -0.07717418] [ 0.45842524 -0.11301012 0.88151858 1.03472572] [ 0. 0. 0. 1. ]] SLAMing on 132.61538475 meters Centerline goodness : 0.915254 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.07, Z:1.03 [[ 0.86978995 -0.14274183 -0.47232427 9.99903414] [ 0.17973863 0.9831309 0.03387703 -0.07432748] [ 0.45952091 -0.11436082 0.8807736 1.03451378] [ 0. 0. 0. 1. ]] SLAMing on 132.64538475 meters Centerline goodness : 0.914389 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.07, Z:1.04 [[ 0.87002573 -0.1377056 -0.47338399 10.00019541] [ 0.17622191 0.98362663 0.03774252 -0.07363031] [ 0.46043574 -0.11625759 0.88004722 1.03536604] [ 0. 0. 0. 1. ]] SLAMing on 132.67538475 meters Centerline goodness : 0.917542 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.07, Z:1.04 [[ 0.86999115 -0.13735132 -0.47355044 9.99995825] [ 0.17582748 0.98369858 0.03770676 -0.07321739] [ 0.46065182 -0.11606773 0.87995919 1.03548089] [ 0. 0. 0. 1. ]] SLAMing on 132.70538475 meters Centerline goodness : 0.918118 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.07, Z:1.04 [[ 0.87289786 -0.13828211 -0.46789677 10.01083445] [ 0.17228612 0.98457677 0.03043158 -0.07035254] [ 0.45647215 -0.10717579 0.88325904 1.0372566 ] [ 0. 0. 0. 1. ]] SLAMing on 132.73538475 meters Centerline goodness : 0.918012 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.07, Z:1.04 [[ 0.87282751 -0.13795286 -0.46812514 10.01070887] [ 0.17202228 0.98461833 0.03057912 -0.07009007] [ 0.45670611 -0.10721825 0.88313293 1.0377246 ] [ 0. 0. 0. 1. ]] SLAMing on 132.76538475 meters Centerline goodness : 0.911091 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.07, Z:1.04 [[ 0.87188312 -0.13956783 -0.46940456 10.01379068] [ 0.17421989 0.98421987 0.03096252 -0.07029875] [ 0.45767592 -0.10877531 0.88244019 1.04138026] [ 0. 0. 0. 1. ]] SLAMing on 132.79538475 meters Centerline goodness : 0.913967 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.07, Z:1.04 [[ 0.87147589 -0.14074272 -0.46980982 10.01626483] [ 0.17533479 0.98403798 0.03044606 -0.0696039 ] [ 0.45802564 -0.10890702 0.88224247 1.04173767] [ 0. 0. 0. 1. ]] SLAMing on 132.82538475 meters Centerline goodness : 0.910388 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.07, Z:1.04 [[ 0.8708348 -0.14257596 -0.47044537 10.02150999] [ 0.1768729 0.98379894 0.02925099 -0.06707528] [ 0.45865317 -0.10868181 0.88194418 1.04109842] [ 0. 0. 0. 1. ]] SLAMing on 132.85538475 meters Centerline goodness : 0.910894 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.06, Z:1.04 [[ 0.8705377 -0.14323804 -0.47079398 10.02396296] [ 0.17736453 0.98372768 0.02866496 -0.06473205] [ 0.45902715 -0.10845608 0.88177738 1.04061793] [ 0. 0. 0. 1. ]] SLAMing on 132.88538475000001 meters Centerline goodness : 0.902409 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.06, Z:1.04 [[ 0.87061522 -0.13855043 -0.47205182 10.0261866 ] [ 0.17407633 0.98420617 0.03218145 -0.0644129 ] [ 0.46013756 -0.11019071 0.88098322 1.0414287 ] [ 0. 0. 0. 1. ]] SLAMing on 132.91538475000002 meters Centerline goodness : 0.904223 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.04 [[ 0.87030849 -0.13838362 -0.47266596 10.02667454] [ 0.17409769 0.98419467 0.0324167 -0.06564638] [ 0.46070938 -0.11050258 0.88064525 1.04287619] [ 0. 0. 0. 1. ]] SLAMing on 132.94538475000002 meters Centerline goodness : 0.906365 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.04 [[ 0.87024536 -0.13819822 -0.4728364 10.02650392] [ 0.17404406 0.98419583 0.03266865 -0.06606366] [ 0.46084886 -0.11072411 0.88054443 1.04350854] [ 0. 0. 0. 1. ]] SLAMing on 132.97538475000002 meters Centerline goodness : 0.905715 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.05 [[ 0.86944247 -0.13961604 -0.47389572 10.03014452] [ 0.17583337 0.98387558 0.03273334 -0.06600585] [ 0.46168433 -0.11178643 0.87997237 1.04578376] [ 0. 0. 0. 1. ]] SLAMing on 133.00538475000002 meters Centerline goodness : 0.906416 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.05 [[ 0.8692473 -0.13953131 -0.47427855 10.03026448] [ 0.17608522 0.98381183 0.03329067 -0.06726235] [ 0.46195575 -0.11245127 0.87974519 1.04723004] [ 0. 0. 0. 1. ]] SLAMing on 133.03538475 meters Centerline goodness : 0.908661 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.05 [[ 0.8692499 -0.13846955 -0.47458486 10.02848926] [ 0.17581677 0.98380114 0.0349826 -0.06954667] [ 0.4620531 -0.1138486 0.87951431 1.04976538] [ 0. 0. 0. 1. ]] SLAMing on 133.06538475 meters Centerline goodness : 0.911993 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.05 [[ 0.86895691 -0.13856462 -0.47509339 10.02929056] [ 0.17614543 0.98373241 0.03526103 -0.06961551] [ 0.46247883 -0.11432584 0.8792286 1.0510174 ] [ 0. 0. 0. 1. ]] SLAMing on 133.09538475 meters Centerline goodness : 0.915037 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.05 [[ 0.86894413 -0.14192312 -0.47412438 10.02581591] [ 0.1785432 0.98338325 0.03285899 -0.0718657 ] [ 0.46158252 -0.11320431 0.87984451 1.05170105] [ 0. 0. 0. 1. ]] SLAMing on 133.12538475 meters Centerline goodness : 0.917820 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.07, Z:1.06 [[ 0.86834937 -0.14179407 -0.47525131 10.02664163] [ 0.1793936 0.98317433 0.03444077 -0.07456029] [ 0.4623714 -0.11516367 0.87917576 1.05583047] [ 0. 0. 0. 1. ]] SLAMing on 133.15538475 meters Centerline goodness : 0.919042 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.08, Z:1.06 [[ 0.86810947 -0.14213276 -0.47558829 10.0281297 ] [ 0.17984902 0.98308967 0.03448232 -0.07508473] [ 0.46264487 -0.11546851 0.87899189 1.05635277] [ 0. 0. 0. 1. ]] SLAMing on 133.18538475 meters Centerline goodness : 0.918980 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.08, Z:1.06 [[ 0.86776075 -0.14300015 -0.47596454 10.03081132] [ 0.18081191 0.98291805 0.0343388 -0.07603943] [ 0.46292369 -0.11585792 0.87879383 1.05690381] [ 0. 0. 0. 1. ]] SLAMing on 133.21538475 meters Centerline goodness : 0.919653 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.08, Z:1.06 [[ 0.86749412 -0.14352527 -0.47629239 10.03238432] [ 0.18139787 0.98281392 0.03422888 -0.07651105] [ 0.46319408 -0.11609178 0.87862047 1.05744034] [ 0. 0. 0. 1. ]] SLAMing on 133.24538475 meters Centerline goodness : 0.916437 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.08, Z:1.06 [[ 0.8670841 -0.14453696 -0.47673288 10.03551789] [ 0.18231957 0.98266239 0.03367791 -0.07662501] [ 0.46359977 -0.11611931 0.87840285 1.05751413] [ 0. 0. 0. 1. ]] SLAMing on 133.27538475 meters Centerline goodness : 0.912661 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.08, Z:1.06 [[ 0.86685069 -0.14516151 -0.47696753 10.03746058] [ 0.18283545 0.98258119 0.03324769 -0.07605371] [ 0.46383303 -0.11602736 0.87829185 1.05734211] [ 0. 0. 0. 1. ]] SLAMing on 133.30538475 meters Centerline goodness : 0.913475 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.07, Z:1.06 [[ 0.86653412 -0.14598207 -0.4772922 10.04025817] [ 0.18333257 0.98251898 0.03233611 -0.07435407] [ 0.46422815 -0.11552356 0.87814949 1.05653267] [ 0. 0. 0. 1. ]] SLAMing on 133.33538475 meters Centerline goodness : 0.914079 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.07, Z:1.06 [[ 0.86646852 -0.14622888 -0.47733575 10.04105207] [ 0.18344942 0.98250767 0.03201552 -0.0729854 ] [ 0.46430444 -0.11530741 0.87813757 1.05614752] [ 0. 0. 0. 1. ]] SLAMing on 133.36538475 meters Centerline goodness : 0.907711 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.07, Z:1.06 [[ 0.86644407 -0.14602489 -0.47744257 10.04125886] [ 0.18309296 0.98258281 0.03174887 -0.07128316] [ 0.46449074 -0.11492499 0.87808917 1.05572046] [ 0. 0. 0. 1. ]] SLAMing on 133.39538475 meters Centerline goodness : 0.907552 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.07, Z:1.06 [[ 0.86623917 -0.14629569 -0.47773139 10.04256611] [ 0.18334316 0.98254223 0.03156028 -0.0697762 ] [ 0.46477413 -0.11492753 0.87793887 1.05580123] [ 0. 0. 0. 1. ]] SLAMing on 133.42538475 meters Centerline goodness : 0.904427 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.07, Z:1.06 [[ 0.86604366 -0.14246432 -0.47924137 10.04633288] [ 0.18086949 0.98289598 0.03466576 -0.06802221] [ 0.46610578 -0.11670221 0.87699829 1.05688155] [ 0. 0. 0. 1. ]] SLAMing on 133.45538475 meters Centerline goodness : 0.904265 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.07, Z:1.06 [[ 0.86606581 -0.14204844 -0.47932478 10.04601399] [ 0.1804774 0.98296358 0.03479241 -0.0667354 ] [ 0.4662166 -0.11663981 0.87694768 1.05686551] [ 0. 0. 0. 1. ]] SLAMing on 133.48538475 meters Centerline goodness : 0.906813 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.07, Z:1.06 [[ 0.86611906 -0.14180298 -0.47930126 10.0454178 ] [ 0.18015109 0.98302637 0.03470932 -0.06522795] [ 0.46624389 -0.11640904 0.87696384 1.05672689] [ 0. 0. 0. 1. ]] SLAMing on 133.51538475 meters Centerline goodness : 0.906997 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.07, Z:1.06 [[ 0.86575298 -0.1415341 -0.48004153 10.04432197] [ 0.18053772 0.98291637 0.03579875 -0.0656615 ] [ 0.46677394 -0.11765848 0.87651502 1.06002393] [ 0. 0. 0. 1. ]] SLAMing on 133.54538475 meters Centerline goodness : 0.903161 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86575808 -0.14143501 -0.48006153 10.04430595] [ 0.18035639 0.98295456 0.03566379 -0.062571 ] [ 0.46683457 -0.11745838 0.87650957 1.05963741] [ 0. 0. 0. 1. ]] SLAMing on 133.57538475 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86580656 -0.14138922 -0.47998759 10.04459945] [ 0.18016611 0.98299808 0.03542524 -0.0609544 ] [ 0.46681813 -0.1171489 0.87655973 1.05900213] [ 0. 0. 0. 1. ]] SLAMing on 133.60538475 meters Centerline goodness : 0.905198 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86609694 -0.140436 -0.47974349 10.04190887] [ 0.17935968 0.9831242 0.03601267 -0.06018989] [ 0.46658996 -0.1172371 0.87666942 1.05943991] [ 0. 0. 0. 1. ]] SLAMing on 133.63538475000001 meters Centerline goodness : 0.909289 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86585173 -0.14107593 -0.4799983 10.04209517] [ 0.18007805 0.98299609 0.03592472 -0.05951688] [ 0.46676834 -0.11754264 0.87653354 1.06054135] [ 0. 0. 0. 1. ]] SLAMing on 133.66538475000002 meters Centerline goodness : 0.914827 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86549908 -0.14087244 -0.48069356 10.04053292] [ 0.18062322 0.98284932 0.03718139 -0.05983567] [ 0.46721151 -0.11900488 0.87610002 1.06427417] [ 0. 0. 0. 1. ]] SLAMing on 133.69538475000002 meters Centerline goodness : 0.912595 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.8655187 -0.14069062 -0.48071148 10.04019737] [ 0.18044332 0.98288068 0.03722602 -0.05908104] [ 0.46724467 -0.11896099 0.87608829 1.06435793] [ 0. 0. 0. 1. ]] SLAMing on 133.72538475000002 meters Centerline goodness : 0.912329 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.06, Z:1.06 [[ 0.86575829 -0.13618481 -0.48157688 10.04194755] [ 0.17704409 0.9833819 0.04019236 -0.05613035] [ 0.4681004 -0.12005721 0.87548175 1.06393636] [ 0. 0. 0. 1. ]] SLAMing on 133.75538475000002 meters Centerline goodness : 0.911754 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.05, Z:1.06 [[ 0.86574504 -0.13643883 -0.48152879 10.04272663] [ 0.17706472 0.98339798 0.03970527 -0.05496604] [ 0.4681171 -0.1196364 0.87553042 1.06317045] [ 0. 0. 0. 1. ]] SLAMing on 133.78538475 meters Centerline goodness : 0.910173 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.05, Z:1.06 [[ 0.86570286 -0.13689325 -0.48147565 10.0446148 ] [ 0.1770953 0.98342811 0.03881242 -0.05418899] [ 0.46818353 -0.1188671 0.87559968 1.06172829] [ 0. 0. 0. 1. ]] SLAMing on 133.81538475 meters Centerline goodness : 0.909585 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86550779 -0.13764765 -0.48161125 10.04672376] [ 0.17759777 0.98336495 0.03811035 -0.05304562] [ 0.46835382 -0.11851789 0.87555594 1.06110061] [ 0. 0. 0. 1. ]] SLAMing on 133.84538475 meters Centerline goodness : 0.907561 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86534461 -0.13808347 -0.48177968 10.04871282] [ 0.17787322 0.98333285 0.03765128 -0.05256991] [ 0.46855077 -0.11827704 0.87548314 1.06054783] [ 0. 0. 0. 1. ]] SLAMing on 133.87538475 meters Centerline goodness : 0.906277 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86507762 -0.1384978 -0.48214009 10.05026426] [ 0.17829613 0.98326363 0.03745829 -0.05300162] [ 0.46888292 -0.11836804 0.87529299 1.06096298] [ 0. 0. 0. 1. ]] SLAMing on 133.90538475 meters Centerline goodness : 0.905539 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86484504 -0.13886965 -0.48245028 10.05165066] [ 0.17879611 0.98317073 0.03751342 -0.0543229 ] [ 0.46912152 -0.11870353 0.87511969 1.06167728] [ 0. 0. 0. 1. ]] SLAMing on 133.93538475 meters Centerline goodness : 0.906667 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86466002 -0.1390915 -0.48271793 10.05249555] [ 0.17909901 0.98311494 0.03753087 -0.05442641] [ 0.46934698 -0.11890574 0.87497133 1.06218302] [ 0. 0. 0. 1. ]] SLAMing on 133.96538475 meters Centerline goodness : 0.904951 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.06 [[ 0.86453279 -0.13933131 -0.48287664 10.05314996] [ 0.17940037 0.98305969 0.03753859 -0.05527116] [ 0.46946626 -0.11908158 0.87488343 1.06258757] [ 0. 0. 0. 1. ]] SLAMing on 133.99538475 meters Centerline goodness : 0.908673 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.06 [[ 0.86442313 -0.13952468 -0.48301711 10.05372615] [ 0.17959857 0.98302659 0.03745766 -0.05542145] [ 0.46959239 -0.11912844 0.87480935 1.06283227] [ 0. 0. 0. 1. ]] SLAMing on 134.02538475 meters Centerline goodness : 0.908673 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.06 [[ 0.86442313 -0.13952468 -0.48301711 10.05372615] [ 0.17959857 0.98302659 0.03745766 -0.05542145] [ 0.46959239 -0.11912844 0.87480935 1.06283227] [ 0. 0. 0. 1. ]] SLAMing on 134.05538475 meters Centerline goodness : 0.910071 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.06 [[ 0.86438766 -0.13951483 -0.48308342 10.05412275] [ 0.179589 0.98302895 0.03744155 -0.05517148] [ 0.46966134 -0.11912048 0.87477342 1.0628117 ] [ 0. 0. 0. 1. ]] SLAMing on 134.08538475 meters Centerline goodness : 0.908991 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86450494 -0.1389267 -0.48304304 10.05313285] [ 0.17909888 0.98310518 0.03778609 -0.0547933 ] [ 0.46963262 -0.11917873 0.8747809 1.06297659] [ 0. 0. 0. 1. ]] SLAMing on 134.11538475 meters Centerline goodness : 0.908894 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86472615 -0.13822483 -0.48284841 10.05156984] [ 0.17853639 0.98318834 0.03828125 -0.05440842] [ 0.46943951 -0.11930881 0.87486682 1.06319757] [ 0. 0. 0. 1. ]] SLAMing on 134.14538475 meters Centerline goodness : 0.909730 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86447437 -0.1430099 -0.4819048 10.05006631] [ 0.18191816 0.98270082 0.0347115 -0.05412179] [ 0.46860415 -0.11767443 0.87553577 1.0628712 ] [ 0. 0. 0. 1. ]] SLAMing on 134.17538475 meters Centerline goodness : 0.907583 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86343731 -0.1497193 -0.48172622 10.05212178] [ 0.18717457 0.98185835 0.03032917 -0.05317429] [ 0.46844605 -0.11635423 0.87579678 1.06369533] [ 0. 0. 0. 1. ]] SLAMing on 134.20538475 meters Centerline goodness : 0.907875 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86345854 -0.14995283 -0.48161551 10.05338006] [ 0.18766507 0.98175065 0.03078124 -0.05333084] [ 0.4682106 -0.11696074 0.87584189 1.06300986] [ 0. 0. 0. 1. ]] SLAMing on 134.23538475 meters Centerline goodness : 0.901917 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86392612 -0.14543603 -0.48216182 10.05487112] [ 0.18468243 0.98218727 0.03464928 -0.05294729] [ 0.46853395 -0.11898123 0.87539671 1.06248454] [ 0. 0. 0. 1. ]] SLAMing on 134.26538475 meters Centerline goodness : 0.902015 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.06 [[ 0.86445005 -0.14058884 -0.48266021 10.05418719] [ 0.18122308 0.9826946 0.03833423 -0.05391454] [ 0.46891822 -0.1206072 0.87496835 1.06315241] [ 0. 0. 0. 1. ]] SLAMing on 134.29538475 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86409818 -0.14069352 -0.48325942 10.0526257 ] [ 0.17991469 0.98304138 0.03550146 -0.05456348] [ 0.47006918 -0.11762221 0.8747571 1.06574982] [ 0. 0. 0. 1. ]] SLAMing on 134.32538475 meters Centerline goodness : 0.903697 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86395755 -0.13890183 -0.48402855 10.05304126] [ 0.17799295 0.98339117 0.03550104 -0.05447903] [ 0.47105824 -0.11682506 0.87433177 1.06700874] [ 0. 0. 0. 1. ]] SLAMing on 134.35538475 meters Centerline goodness : 0.904814 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.07 [[ 0.86427306 -0.13448369 -0.48471251 10.05394852] [ 0.1748596 0.9838277 0.03882233 -0.05577724] [ 0.47165262 -0.11830973 0.87381154 1.06743274] [ 0. 0. 0. 1. ]] SLAMing on 134.38538475000001 meters Centerline goodness : 0.904219 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.86418515 -0.13346717 -0.48515003 10.05535047] [ 0.17403925 0.98395334 0.03932118 -0.05573911] [ 0.47211691 -0.11841592 0.87354639 1.06758081] [ 0. 0. 0. 1. ]] SLAMing on 134.41538475000002 meters Centerline goodness : 0.902645 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.86412813 -0.13375739 -0.48517165 10.05634062] [ 0.17419958 0.98393775 0.03900025 -0.05503926] [ 0.47216213 -0.11821791 0.87354877 1.0671351 ] [ 0. 0. 0. 1. ]] SLAMing on 134.44538475000002 meters Centerline goodness : 0.903457 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.86419192 -0.13332129 -0.48517806 10.05558839] [ 0.17394591 0.98396478 0.03944778 -0.05578648] [ 0.4721389 -0.11848519 0.87352511 1.0676982 ] [ 0. 0. 0. 1. ]] SLAMing on 134.47538475000002 meters Centerline goodness : 0.900943 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.86407698 -0.13315899 -0.4854273 10.05536856] [ 0.17390473 0.98396425 0.03964215 -0.05607538] [ 0.4723644 -0.11867197 0.87337783 1.06843817] [ 0. 0. 0. 1. ]] SLAMing on 134.50538475000002 meters Centerline goodness : 0.904987 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.06, Z:1.07 [[ 0.86403385 -0.13290225 -0.4855744 10.05483367] [ 0.17382614 0.98396385 0.03999522 -0.05667928] [ 0.4724722 -0.11896275 0.87327996 1.069249 ] [ 0. 0. 0. 1. ]] SLAMing on 134.53538475 meters Centerline goodness : 0.904892 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.8638819 -0.13314579 -0.48577799 10.05555396] [ 0.17408055 0.98392296 0.03989443 -0.05631543] [ 0.47265634 -0.11902858 0.87317133 1.06952792] [ 0. 0. 0. 1. ]] SLAMing on 134.56538475 meters Centerline goodness : 0.894482 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.06, Z:1.07 [[ 0.86396343 -0.13280969 -0.48572501 10.05511642] [ 0.17370656 0.98398778 0.0399259 -0.05526808] [ 0.47264492 -0.11886814 0.87319937 1.06923544] [ 0. 0. 0. 1. ]] SLAMing on 134.59538475 meters Centerline goodness : 0.895592 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.8637564 -0.13317045 -0.48599436 10.0561034 ] [ 0.17395058 0.98396023 0.03954057 -0.05357806] [ 0.47293349 -0.11869243 0.87306702 1.06926161] [ 0. 0. 0. 1. ]] SLAMing on 134.62538475 meters Centerline goodness : 0.902435 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86393903 -0.13244207 -0.48586875 10.05517465] [ 0.17310901 0.98410808 0.03955454 -0.05189567] [ 0.47290868 -0.11828097 0.8731363 1.06864154] [ 0. 0. 0. 1. ]] SLAMing on 134.65538475 meters Centerline goodness : 0.894406 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.8641114 -0.13199601 -0.48568359 10.05410394] [ 0.17256287 0.9842047 0.03953696 -0.05069485] [ 0.47279335 -0.11797529 0.8732401 1.06820995] [ 0. 0. 0. 1. ]] SLAMing on 134.68538475 meters Centerline goodness : 0.894740 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86440899 -0.12654562 -0.48660385 10.05381325] [ 0.16858548 0.9847316 0.04338917 -0.04916958] [ 0.47368348 -0.11954033 0.8725446 1.06904975] [ 0. 0. 0. 1. ]] SLAMing on 134.71538475 meters Centerline goodness : 0.900547 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86420525 -0.12651328 -0.48697399 10.0530691 ] [ 0.16844579 0.98476848 0.04309357 -0.04819041] [ 0.47410473 -0.11927041 0.87235272 1.06976841] [ 0. 0. 0. 1. ]] SLAMing on 134.74538475 meters Centerline goodness : 0.908294 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86402909 -0.1269612 -0.48716997 10.05400569] [ 0.16871177 0.98474495 0.04258776 -0.047048 ] [ 0.47433118 -0.11898837 0.87226814 1.06965724] [ 0. 0. 0. 1. ]] SLAMing on 134.77538475 meters Centerline goodness : 0.902152 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.05, Z:1.07 [[ 0.86397913 -0.12722716 -0.48718919 10.05480896] [ 0.1686432 0.98478625 0.04189881 -0.04529232] [ 0.47444655 -0.11836084 0.87229077 1.06875316] [ 0. 0. 0. 1. ]] SLAMing on 134.80538475 meters Centerline goodness : 0.902355 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86396411 -0.1274396 -0.4871603 10.05509144] [ 0.16870538 0.98478928 0.04157614 -0.04475492] [ 0.4744518 -0.11810686 0.87232234 1.06847213] [ 0. 0. 0. 1. ]] SLAMing on 134.83538475 meters Centerline goodness : 0.899000 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86330413 -0.13340233 -0.48673381 10.05689837] [ 0.17306624 0.98420689 0.03721398 -0.0436216 ] [ 0.47408233 -0.11636417 0.87275731 1.06789415] [ 0. 0. 0. 1. ]] SLAMing on 134.86538475 meters Centerline goodness : 0.902593 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.8629727 -0.13820764 -0.48598021 10.05628466] [ 0.17639542 0.9837504 0.03346354 -0.04337855] [ 0.47345831 -0.1146028 0.87332893 1.06732308] [ 0. 0. 0. 1. ]] SLAMing on 134.89538475 meters Centerline goodness : 0.904481 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86246273 -0.13934724 -0.48655975 10.05872188] [ 0.17769158 0.98352274 0.03329742 -0.04530801] [ 0.47390267 -0.11517535 0.87301254 1.06871222] [ 0. 0. 0. 1. ]] SLAMing on 134.92538475 meters Centerline goodness : 0.899237 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86220572 -0.1396549 -0.48692691 10.06049991] [ 0.17809245 0.98345056 0.03328762 -0.04545265] [ 0.47421976 -0.11541879 0.87280818 1.06906524] [ 0. 0. 0. 1. ]] SLAMing on 134.95538475 meters Centerline goodness : 0.896880 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86184889 -0.14006118 -0.48744164 10.06208319] [ 0.17869158 0.98333827 0.03339399 -0.0471094 ] [ 0.47464282 -0.11588229 0.87251676 1.07020175] [ 0. 0. 0. 1. ]] SLAMing on 134.98538475 meters Centerline goodness : 0.898922 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86149159 -0.14453228 -0.48676756 10.06181966] [ 0.18187994 0.98286113 0.03006134 -0.04880789] [ 0.47408008 -0.11443084 0.87301412 1.06991904] [ 0. 0. 0. 1. ]] SLAMing on 135.01538475 meters Centerline goodness : 0.897045 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86101937 -0.14480664 -0.48752096 10.06317955] [ 0.18272451 0.98268063 0.0308308 -0.05064454] [ 0.4746129 -0.11562795 0.87256677 1.07238487] [ 0. 0. 0. 1. ]] SLAMing on 135.04538475 meters Centerline goodness : 0.901397 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86105154 -0.14451708 -0.48755006 10.06255148] [ 0.1826121 0.98268912 0.03122361 -0.05156229] [ 0.4745978 -0.11591768 0.87253655 1.07298621] [ 0. 0. 0. 1. ]] SLAMing on 135.07538475 meters Centerline goodness : 0.902583 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.8609615 -0.14442727 -0.48773564 10.06275885] [ 0.18261815 0.98268329 0.03137138 -0.05095739] [ 0.47475878 -0.11607893 0.87242752 1.07338354] [ 0. 0. 0. 1. ]] SLAMing on 135.10538475 meters Centerline goodness : 0.900843 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.07 [[ 0.86073811 -0.14483576 -0.48800871 10.06402668] [ 0.18293456 0.9826356 0.03101988 -0.04932548] [ 0.47504195 -0.11597365 0.87228737 1.07340096] [ 0. 0. 0. 1. ]] SLAMing on 135.13538475000001 meters Centerline goodness : 0.901504 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.07 [[ 0.8600288 -0.14683204 -0.48866227 10.06695511] [ 0.18480671 0.98231414 0.0300901 -0.04854691] [ 0.47560167 -0.11618642 0.87195399 1.07466895] [ 0. 0. 0. 1. ]] SLAMing on 135.16538475000002 meters Centerline goodness : 0.904217 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.07 [[ 0.85991781 -0.14705624 -0.48879017 10.06756768] [ 0.18500982 0.98227996 0.02995733 -0.0478178 ] [ 0.47572337 -0.11619182 0.87188688 1.07475393] [ 0. 0. 0. 1. ]] SLAMing on 135.19538475000002 meters Centerline goodness : 0.893895 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.86002193 -0.14288821 -0.48984206 10.069792 ] [ 0.18213264 0.98271629 0.03311168 -0.04620757] [ 0.4766445 -0.117693 0.87118217 1.07516579] [ 0. 0. 0. 1. ]] SLAMing on 135.22538475000002 meters Centerline goodness : 0.894175 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.85991264 -0.14310161 -0.48997161 10.07068213] [ 0.18226941 0.98269873 0.03287945 -0.0445208 ] [ 0.47678938 -0.1175803 0.87111811 1.07498241] [ 0. 0. 0. 1. ]] SLAMing on 135.25538475000002 meters Centerline goodness : 0.894086 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.08 [[ 0.85995278 -0.1424972 -0.49007731 10.06912662] [ 0.18183975 0.98276327 0.03332654 -0.04491131] [ 0.47688104 -0.11777478 0.87104166 1.07588959] [ 0. 0. 0. 1. ]] SLAMing on 135.28538475 meters Centerline goodness : 0.895106 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85990958 -0.14234558 -0.49019716 10.0689185 ] [ 0.18173205 0.98278028 0.03341246 -0.04526287] [ 0.47699998 -0.11781623 0.87097092 1.07625699] [ 0. 0. 0. 1. ]] SLAMing on 135.31538475 meters Centerline goodness : 0.894219 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.08 [[ 0.85987268 -0.14234745 -0.49026134 10.06909185] [ 0.18168665 0.98279223 0.0333076 -0.04484206] [ 0.47708378 -0.11771424 0.87093882 1.07628996] [ 0. 0. 0. 1. ]] SLAMing on 135.34538475 meters Centerline goodness : 0.895624 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85983598 -0.14228158 -0.49034481 10.06886173] [ 0.1817139 0.98278163 0.03347119 -0.04578269] [ 0.47713954 -0.1178822 0.87088555 1.07689395] [ 0. 0. 0. 1. ]] SLAMing on 135.37538475 meters Centerline goodness : 0.894276 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85959433 -0.14268924 -0.49064995 10.07005351] [ 0.18212904 0.98271086 0.0332922 -0.04562404] [ 0.4774166 -0.11797939 0.87072054 1.07729845] [ 0. 0. 0. 1. ]] SLAMing on 135.40538475 meters Centerline goodness : 0.892925 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.8594545 -0.14294724 -0.49081977 10.07126134] [ 0.18237725 0.98266933 0.03315898 -0.04552614] [ 0.47757355 -0.11801299 0.87062991 1.07728382] [ 0. 0. 0. 1. ]] SLAMing on 135.43538475 meters Centerline goodness : 0.888838 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85912358 -0.143857 -0.49113322 10.07358014] [ 0.1832193 0.98252776 0.03270908 -0.04569583] [ 0.47784659 -0.11808623 0.87047015 1.07750268] [ 0. 0. 0. 1. ]] SLAMing on 135.46538475 meters Centerline goodness : 0.890979 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85893047 -0.14403541 -0.4914186 10.07447454] [ 0.18350844 0.98247132 0.03278332 -0.04634601] [ 0.47808272 -0.11833806 0.87030628 1.07807565] [ 0. 0. 0. 1. ]] SLAMing on 135.49538475 meters Centerline goodness : 0.887408 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.05, Z:1.08 [[ 0.85870755 -0.14436812 -0.49171047 10.07531198] [ 0.18394678 0.98238861 0.03280567 -0.04725312] [ 0.47831467 -0.11861903 0.87014056 1.07889819] [ 0. 0. 0. 1. ]] SLAMing on 135.52538475 meters Centerline goodness : 0.893498 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.05, Z:1.08 [[ 0.85858457 -0.14469988 -0.49182769 10.07601693] [ 0.18421715 0.98234566 0.03257382 -0.04667705] [ 0.47843137 -0.11857048 0.87008302 1.07893561] [ 0. 0. 0. 1. ]] SLAMing on 135.55538475 meters Centerline goodness : 0.890803 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85859424 -0.14434939 -0.4919138 10.07494879] [ 0.18400338 0.98237519 0.03288989 -0.04632611] [ 0.47849628 -0.11875287 0.87002245 1.0795899 ] [ 0. 0. 0. 1. ]] SLAMing on 135.58538475 meters Centerline goodness : 0.893689 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.08 [[ 0.85808856 -0.14959834 -0.4912274 10.07466105] [ 0.18771439 0.98179818 0.02890759 -0.04528525] [ 0.47796163 -0.11701572 0.87055155 1.07920705] [ 0. 0. 0. 1. ]] SLAMing on 135.61538475 meters Centerline goodness : 0.893322 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.04, Z:1.08 [[ 0.85786043 -0.15029061 -0.49141451 10.07553459] [ 0.18835201 0.98168583 0.02857379 -0.04349391] [ 0.47812029 -0.11707123 0.87045696 1.07949073] [ 0. 0. 0. 1. ]] SLAMing on 135.64538475 meters Centerline goodness : 0.892373 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.07 [[ 0.8609567 -0.15020281 -0.48599658 10.0722047 ] [ 0.18532461 0.98236699 0.02469603 -0.04731971] [ 0.47371758 -0.11132934 0.87361172 1.06726639] [ 0. 0. 0. 1. ]] SLAMing on 135.67538475 meters Centerline goodness : 0.896658 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.07 [[ 0.86105005 -0.15058932 -0.4857115 10.06977207] [ 0.18523838 0.98240537 0.02379965 -0.04650591] [ 0.47358162 -0.1104651 0.87379512 1.0682876 ] [ 0. 0. 0. 1. ]] SLAMing on 135.70538475 meters Centerline goodness : 0.894955 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86194437 -0.14677158 -0.48529372 10.06774366] [ 0.18211288 0.98292904 0.02618027 -0.04476965] [ 0.47316677 -0.11094417 0.87395915 1.06766819] [ 0. 0. 0. 1. ]] SLAMing on 135.73538475 meters Centerline goodness : 0.890526 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86222474 -0.14501609 -0.48532343 10.06655251] [ 0.18038157 0.98323501 0.02667202 -0.04374371] [ 0.47331912 -0.11054068 0.87392778 1.06799489] [ 0. 0. 0. 1. ]] SLAMing on 135.76538475 meters Centerline goodness : 0.897025 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86210366 -0.14552521 -0.48538613 10.06450454] [ 0.17982584 0.98339187 0.02455819 -0.04294833] [ 0.47375094 -0.10845668 0.87395492 1.06936194] [ 0. 0. 0. 1. ]] SLAMing on 135.79538475 meters Centerline goodness : 0.896770 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86212771 -0.14528555 -0.4854152 10.06406995] [ 0.17961417 0.98342789 0.02466442 -0.04278044] [ 0.47378746 -0.10845133 0.87393578 1.06950917] [ 0. 0. 0. 1. ]] SLAMing on 135.82538475 meters Centerline goodness : 0.902166 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86223658 -0.14471428 -0.48539247 10.06318834] [ 0.17913904 0.98350618 0.02499595 -0.04342404] [ 0.47376923 -0.10850516 0.87393899 1.06974195] [ 0. 0. 0. 1. ]] SLAMing on 135.85538475 meters Centerline goodness : 0.901294 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.07 [[ 0.86209942 -0.14473887 -0.48562871 10.06376743] [ 0.17923001 0.98348823 0.02505023 -0.0438823 ] [ 0.47398437 -0.10863503 0.87380618 1.07016309] [ 0. 0. 0. 1. ]] SLAMing on 135.88538475000001 meters Centerline goodness : 0.894980 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86194921 -0.14562204 -0.48563133 10.06638724] [ 0.17974188 0.98341767 0.02413576 -0.04263175] [ 0.47406373 -0.10809209 0.87383046 1.06888883] [ 0. 0. 0. 1. ]] SLAMing on 135.91538475000002 meters Centerline goodness : 0.901994 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86186512 -0.14501255 -0.48596284 10.06852709] [ 0.17940283 0.98346542 0.02470603 -0.04282958] [ 0.47434496 -0.10847638 0.8736302 1.06843326] [ 0. 0. 0. 1. ]] SLAMing on 135.94538475000002 meters Centerline goodness : 0.894618 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86238881 -0.14401632 -0.48532961 10.06938565] [ 0.17836901 0.98364448 0.02506044 -0.04477541] [ 0.47378269 -0.10817961 0.87397205 1.06657641] [ 0. 0. 0. 1. ]] SLAMing on 135.97538475000002 meters Centerline goodness : 0.894618 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.07 [[ 0.86238881 -0.14401632 -0.48532961 10.06938565] [ 0.17836901 0.98364448 0.02506044 -0.04477541] [ 0.47378269 -0.10817961 0.87397205 1.06657641] [ 0. 0. 0. 1. ]] SLAMing on 136.00538475000002 meters Centerline goodness : 0.892394 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.05 [[ 0.86530943 -0.14374265 -0.48018501 10.06529875] [ 0.17368129 0.98463315 0.01823107 -0.04958463] [ 0.4701855 -0.09917467 0.87697776 1.05300877] [ 0. 0. 0. 1. ]] SLAMing on 136.03538475 meters Centerline goodness : 0.895216 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.05 [[ 0.86542733 -0.14320126 -0.48013429 10.06492056] [ 0.1730446 0.98474573 0.0182047 -0.04881043] [ 0.47020325 -0.09883949 0.87700608 1.05305294] [ 0. 0. 0. 1. ]] SLAMing on 136.06538475 meters Centerline goodness : 0.894497 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.05 [[ 0.86546752 -0.14286405 -0.48016229 10.06441744] [ 0.17275578 0.98479328 0.01837494 -0.04824641] [ 0.47023548 -0.09885373 0.87698719 1.05318548] [ 0. 0. 0. 1. ]] SLAMing on 136.09538475 meters Centerline goodness : 0.890202 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.05 [[ 0.86545597 -0.14161751 -0.48055223 10.0650586 ] [ 0.17118369 0.98507476 0.01799621 -0.04675014] [ 0.47083129 -0.09783763 0.87678144 1.05331371] [ 0. 0. 0. 1. ]] SLAMing on 136.12538475 meters Centerline goodness : 0.894981 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.05 [[ 0.86552999 -0.14151052 -0.48045041 10.06496878] [ 0.17097462 0.98511359 0.01785766 -0.04543366] [ 0.47077118 -0.09760117 0.87684007 1.05284036] [ 0. 0. 0. 1. ]] SLAMing on 136.15538475 meters Centerline goodness : 0.894010 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.05 [[ 0.86554467 -0.1414313 -0.4804473 10.06492812] [ 0.17089184 0.98512769 0.01787216 -0.04435273] [ 0.47077426 -0.09757367 0.87684148 1.05274055] [ 0. 0. 0. 1. ]] SLAMing on 136.18538475 meters Centerline goodness : 0.891670 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.04, Z:1.05 [[ 0.86545861 -0.14150977 -0.48057921 10.06532003] [ 0.17101309 0.98510613 0.0179005 -0.04383498] [ 0.47088843 -0.09767748 0.87676861 1.05299071] [ 0. 0. 0. 1. ]] SLAMing on 136.21538475 meters Centerline goodness : 0.892309 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.05 [[ 0.86558563 -0.14086819 -0.48053894 10.06373625] [ 0.17056781 0.98517337 0.01844066 -0.04358726] [ 0.47081647 -0.09792644 0.87677949 1.05363452] [ 0. 0. 0. 1. ]] SLAMing on 136.24538475 meters Centerline goodness : 0.890716 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.05 [[ 0.8657625 -0.14040341 -0.48035629 10.0621277 ] [ 0.1703001 0.98520962 0.0189706 -0.04346405] [ 0.4705881 -0.09822876 0.87686826 1.05411547] [ 0. 0. 0. 1. ]] SLAMing on 136.27538475 meters Centerline goodness : 0.903030 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86543425 -0.14472302 -0.47966532 10.05757086] [ 0.17380442 0.9846419 0.01650307 -0.04352064] [ 0.46991019 -0.09765027 0.87729632 1.05672856] [ 0. 0. 0. 1. ]] SLAMing on 136.30538475 meters Centerline goodness : 0.899629 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86587 -0.14158603 -0.47981511 10.05787511] [ 0.17187184 0.98492587 0.01952195 -0.04357464] [ 0.46981828 -0.09937018 0.87715241 1.05640409] [ 0. 0. 0. 1. ]] SLAMing on 136.33538475 meters Centerline goodness : 0.896516 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86678425 -0.13219316 -0.48084305 10.06041617] [ 0.16548377 0.9858351 0.02728139 -0.04288202] [ 0.47042554 -0.10321881 0.87638216 1.0553116 ] [ 0. 0. 0. 1. ]] SLAMing on 136.36538475 meters Centerline goodness : 0.895181 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86679272 -0.13226391 -0.48080831 10.06002631] [ 0.1655298 0.98582891 0.0272259 -0.04234415] [ 0.47039373 -0.10318731 0.87640294 1.05548109] [ 0. 0. 0. 1. ]] SLAMing on 136.39538475 meters Centerline goodness : 0.890256 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86671459 -0.13228866 -0.48094234 10.0599366 ] [ 0.16561553 0.98581247 0.02729972 -0.04228797] [ 0.47050751 -0.10331259 0.8763271 1.05597824] [ 0. 0. 0. 1. ]] SLAMing on 136.42538475 meters Centerline goodness : 0.895618 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86676477 -0.13188756 -0.48096207 10.0595793 ] [ 0.16533047 0.98585158 0.02761353 -0.04319637] [ 0.47051533 -0.10345212 0.87630644 1.05626475] [ 0. 0. 0. 1. ]] SLAMing on 136.45538475 meters Centerline goodness : 0.895485 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86672621 -0.13180912 -0.48105304 10.06023323] [ 0.16523407 0.98586875 0.02757743 -0.04272293] [ 0.4706202 -0.10338844 0.87625764 1.0560551 ] [ 0. 0. 0. 1. ]] SLAMing on 136.48538475 meters Centerline goodness : 0.893516 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86676934 -0.13169959 -0.48100532 10.06098 ] [ 0.16494888 0.98592449 0.02729031 -0.04155305] [ 0.47064081 -0.10299569 0.87629283 1.05513838] [ 0. 0. 0. 1. ]] SLAMing on 136.51538475 meters Centerline goodness : 0.891695 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86674179 -0.13165196 -0.48106801 10.06156766] [ 0.16509306 0.98589051 0.02764397 -0.04316226] [ 0.470641 -0.10338117 0.87624733 1.05554249] [ 0. 0. 0. 1. ]] SLAMing on 136.54538475 meters Centerline goodness : 0.896178 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.04, Z:1.06 [[ 0.86673797 -0.13130359 -0.48117009 10.06119158] [ 0.16490436 0.9859119 0.02800485 -0.04417435] [ 0.47071418 -0.10361991 0.87617982 1.05608059] [ 0. 0. 0. 1. ]] SLAMing on 136.57538475 meters Centerline goodness : 0.897760 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86680322 -0.13050452 -0.48126993 10.06019421] [ 0.16446901 0.98595993 0.02886122 -0.04588397] [ 0.47074634 -0.10417099 0.87609719 1.05705378] [ 0. 0. 0. 1. ]] SLAMing on 136.60538475 meters Centerline goodness : 0.896263 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86695012 -0.1300548 -0.48112705 10.05971927] [ 0.16415359 0.98600067 0.02926224 -0.04582215] [ 0.4705859 -0.10434763 0.87616236 1.05699118] [ 0. 0. 0. 1. ]] SLAMing on 136.63538475000001 meters Centerline goodness : 0.899056 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86688935 -0.13013703 -0.4812143 10.06003862] [ 0.16423962 0.98598741 0.0292263 -0.04564895] [ 0.47066782 -0.10437042 0.87611564 1.05709632] [ 0. 0. 0. 1. ]] SLAMing on 136.66538475000002 meters Centerline goodness : 0.895774 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.8669234 -0.12965052 -0.48128429 10.05949196] [ 0.16393959 0.98602378 0.02968011 -0.04650805] [ 0.47070972 -0.10463193 0.87606194 1.05756207] [ 0. 0. 0. 1. ]] SLAMing on 136.69538475000002 meters Centerline goodness : 0.898943 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86668563 -0.13008338 -0.48159561 10.06070152] [ 0.16442854 0.98594492 0.02959496 -0.04596753] [ 0.47097693 -0.10483759 0.87589372 1.05806445] [ 0. 0. 0. 1. ]] SLAMing on 136.72538475000002 meters Centerline goodness : 0.899318 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86691778 -0.12967503 -0.4812878 10.06013126] [ 0.16408439 0.98599315 0.02989683 -0.04643127] [ 0.4706696 -0.10488991 0.87605264 1.05765808] [ 0. 0. 0. 1. ]] SLAMing on 136.75538475000002 meters Centerline goodness : 0.897844 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86732737 -0.1288098 -0.48078193 10.05854093] [ 0.16329615 0.98610894 0.0303895 -0.04677928] [ 0.4701889 -0.10486748 0.87631342 1.05710311] [ 0. 0. 0. 1. ]] SLAMing on 136.78538475 meters Centerline goodness : 0.899075 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.8675831 -0.12805754 -0.48052142 10.05704673] [ 0.1626809 0.98619467 0.03090297 -0.04735526] [ 0.46993031 -0.10498255 0.87643834 1.05717164] [ 0. 0. 0. 1. ]] SLAMing on 136.81538475 meters Centerline goodness : 0.898427 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86776528 -0.12750988 -0.48033805 10.05608636] [ 0.16222362 0.98625882 0.03125774 -0.04814503] [ 0.46975197 -0.10504655 0.87652627 1.05721293] [ 0. 0. 0. 1. ]] SLAMing on 136.84538475 meters Centerline goodness : 0.902827 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86791194 -0.12698143 -0.48021306 10.05550754] [ 0.16184009 0.98630788 0.0316946 -0.04957659] [ 0.4696133 -0.10522585 0.87657907 1.0573518 ] [ 0. 0. 0. 1. ]] SLAMing on 136.87538475 meters Centerline goodness : 0.904143 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86768327 -0.1273031 -0.48054101 10.05672205] [ 0.16227159 0.98623571 0.03173398 -0.05058293] [ 0.46988687 -0.1055132 0.87639791 1.0579832 ] [ 0. 0. 0. 1. ]] SLAMing on 136.90538475 meters Centerline goodness : 0.902252 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86692245 -0.13347549 -0.48023927 10.05861319] [ 0.1671276 0.98554385 0.02777934 -0.05318098] [ 0.46958899 -0.10434377 0.87669753 1.05868104] [ 0. 0. 0. 1. ]] SLAMing on 136.93538475 meters Centerline goodness : 0.901802 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.05, Z:1.06 [[ 0.86632047 -0.13937701 -0.47964872 10.06046152] [ 0.17147552 0.98490769 0.02351567 -0.05314153] [ 0.46913217 -0.10262012 0.87714544 1.05794029] [ 0. 0. 0. 1. ]] SLAMing on 136.96538475 meters Centerline goodness : 0.898744 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.05, Z:1.05 [[ 0.86636399 -0.14857039 -0.47680214 10.06798958] [ 0.18392872 0.98253935 0.0280472 -0.05330518] [ 0.46430989 -0.11199669 0.87856307 1.05464552] [ 0. 0. 0. 1. ]] SLAMing on 136.99538475 meters Centerline goodness : 0.893368 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.06, Z:1.05 [[ 0.86663061 -0.14709135 -0.47677617 10.07267996] [ 0.18494267 0.98219003 0.0331504 -0.05784474] [ 0.46340867 -0.11690541 0.87839942 1.05223756] [ 0. 0. 0. 1. ]] SLAMing on 137.02538475 meters Centerline goodness : 0.890914 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.06, Z:1.05 [[ 0.86673772 -0.14673398 -0.47669157 10.07406276] [ 0.18549468 0.98202213 0.03498954 -0.0596492 ] [ 0.46298752 -0.11875051 0.878374 1.05146961] [ 0. 0. 0. 1. ]] SLAMing on 137.05538475 meters Centerline goodness : 0.890051 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.06, Z:1.05 [[ 0.86675217 -0.14713606 -0.47654135 10.07474264] [ 0.1862546 0.98185593 0.03561111 -0.06199005] [ 0.46265527 -0.11962403 0.87843053 1.0512845 ] [ 0. 0. 0. 1. ]] SLAMing on 137.08538475 meters Centerline goodness : 0.894071 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.06, Z:1.05 [[ 0.86677037 -0.14776057 -0.47631496 10.07364497] [ 0.18660618 0.9818111 0.03500151 -0.06292908] [ 0.46247947 -0.11922159 0.8785778 1.05192722] [ 0. 0. 0. 1. ]] SLAMing on 137.11538475 meters Centerline goodness : 0.893173 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.07, Z:1.06 [[ 0.87216994 -0.14051976 -0.46858702 10.07558667] [ 0.18000553 0.98283946 0.04030639 -0.06844069] [ 0.45488197 -0.11950228 0.88249737 1.05559784] [ 0. 0. 0. 1. ]] SLAMing on 137.14538475 meters Centerline goodness : 0.895962 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.07, Z:1.06 [[ 0.87242318 -0.14029224 -0.46818361 10.07427181] [ 0.17988991 0.98284444 0.04069916 -0.067875 ] [ 0.45444188 -0.1197284 0.88269343 1.05553443] [ 0. 0. 0. 1. ]] SLAMing on 137.17538475 meters Centerline goodness : 0.898481 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.07, Z:1.06 [[ 0.87848211 -0.1288452 -0.46007402 10.07703465] [ 0.17061247 0.98405939 0.0501847 -0.07128498] [ 0.4462741 -0.12258073 0.88646116 1.05684606] [ 0. 0. 0. 1. ]] SLAMing on 137.20538475 meters Centerline goodness : 0.902682 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.06, Z:1.06 [[ 0.88140499 -0.13003579 -0.45411004 10.08921217] [ 0.16747146 0.98493814 0.04301373 -0.06497254] [ 0.44167698 -0.11396299 0.88990667 1.05743425] [ 0. 0. 0. 1. ]] SLAMing on 137.23538475 meters Centerline goodness : 0.895460 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.06, Z:1.06 [[ 0.8815651 -0.12968487 -0.45389955 10.08794487] [ 0.16699754 0.98502315 0.0429095 -0.06358413] [ 0.44153685 -0.11362763 0.89001909 1.0571303 ] [ 0. 0. 0. 1. ]] SLAMing on 137.26538475 meters Centerline goodness : 0.904487 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.06, Z:1.06 [[ 0.88161387 -0.12963895 -0.45381795 10.08752671] [ 0.16671573 0.98509 0.04246828 -0.0618405 ] [ 0.44154598 -0.11309922 0.89008186 1.05656953] [ 0. 0. 0. 1. ]] SLAMing on 137.29538475 meters Centerline goodness : 0.900455 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.06, Z:1.06 [[ 0.88425412 -0.1300512 -0.44853242 10.10119543] [ 0.1631135 0.98596155 0.0356904 -0.05512616] [ 0.43759414 -0.10472108 0.89305367 1.05738496] [ 0. 0. 0. 1. ]] SLAMing on 137.32538475 meters Centerline goodness : 0.900794 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88439036 -0.12565908 -0.44951472 10.10280767] [ 0.15982912 0.98638521 0.03871524 -0.05316318] [ 0.43852975 -0.10608493 0.89243355 1.05747734] [ 0. 0. 0. 1. ]] SLAMing on 137.35538475 meters Centerline goodness : 0.894374 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88446946 -0.12565543 -0.44936008 10.10287943] [ 0.1595931 0.98644023 0.03828478 -0.05140634] [ 0.43845617 -0.10557649 0.89253 1.056606 ] [ 0. 0. 0. 1. ]] SLAMing on 137.38538475000001 meters Centerline goodness : 0.898285 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88450772 -0.12573838 -0.44926156 10.103031 ] [ 0.15940534 0.98649155 0.03774061 -0.04984969] [ 0.43844729 -0.10499656 0.89260276 1.05576844] [ 0. 0. 0. 1. ]] SLAMing on 137.41538475000002 meters Centerline goodness : 0.899712 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88464539 -0.12530597 -0.44911128 10.10229514] [ 0.15873325 0.98661311 0.03739413 -0.04842359] [ 0.43841337 -0.10436944 0.89269297 1.05501035] [ 0. 0. 0. 1. ]] SLAMing on 137.44538475000002 meters Centerline goodness : 0.898720 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.05 [[ 0.88480327 -0.12494009 -0.44890216 10.10148285] [ 0.15818346 0.98671022 0.03716085 -0.04675255] [ 0.43829347 -0.10388894 0.89280789 1.05436803] [ 0. 0. 0. 1. ]] SLAMing on 137.47538475000002 meters Centerline goodness : 0.892306 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.05 [[ 0.88490157 -0.1249588 -0.44870313 10.10112302] [ 0.15799397 0.98675467 0.03678475 -0.04554182] [ 0.43816334 -0.10344328 0.8929235 1.05375043] [ 0. 0. 0. 1. ]] SLAMing on 137.50538475000002 meters Centerline goodness : 0.897810 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.04, Z:1.05 [[ 0.88496437 -0.1248492 -0.44860979 10.10133397] [ 0.15752533 0.98685476 0.03610327 -0.04367399] [ 0.43820525 -0.10261751 0.89299821 1.05253979] [ 0. 0. 0. 1. ]] SLAMing on 137.53538475 meters Centerline goodness : 0.891319 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.04, Z:1.05 [[ 0.88487853 -0.12500129 -0.44873674 10.10224073] [ 0.15747544 0.98688018 0.03562298 -0.04243065] [ 0.43839648 -0.10218703 0.89295372 1.05191334] [ 0. 0. 0. 1. ]] SLAMing on 137.56538475 meters Centerline goodness : 0.891969 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.04, Z:1.05 [[ 0.88490731 -0.12547676 -0.44854725 10.10438647] [ 0.15727611 0.9869628 0.03418567 -0.03918092] [ 0.43840994 -0.10079691 0.89310509 1.04911785] [ 0. 0. 0. 1. ]] SLAMing on 137.59538475 meters Centerline goodness : 0.893273 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.04, Z:1.05 [[ 0.8847125 -0.12579712 -0.44884171 10.10518053] [ 0.15770973 0.98689084 0.03426542 -0.04025113] [ 0.43864728 -0.10110175 0.89295409 1.04995135] [ 0. 0. 0. 1. ]] SLAMing on 137.62538475 meters Centerline goodness : 0.894009 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.04, Z:1.05 [[ 0.88459132 -0.12536216 -0.44920209 10.10461699] [ 0.15763634 0.98687641 0.03501048 -0.04207142] [ 0.43891796 -0.10178054 0.89274394 1.05149471] [ 0. 0. 0. 1. ]] SLAMing on 137.65538475 meters Centerline goodness : 0.895341 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88436922 -0.1241774 -0.44996784 10.1029087 ] [ 0.15820713 0.98664898 0.03865613 -0.04616447] [ 0.43916009 -0.10537441 0.89220774 1.05769645] [ 0. 0. 0. 1. ]] SLAMing on 137.68538475 meters Centerline goodness : 0.899866 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88408678 -0.12412065 -0.45053816 10.10322164] [ 0.15864856 0.98654357 0.03952755 -0.04760766] [ 0.43956934 -0.10642301 0.89188168 1.05980862] [ 0. 0. 0. 1. ]] SLAMing on 137.71538475 meters Centerline goodness : 0.902276 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88388186 -0.12442092 -0.45085729 10.10431056] [ 0.15915257 0.98645208 0.03978375 -0.04823268] [ 0.43979918 -0.10691923 0.89170901 1.06063262] [ 0. 0. 0. 1. ]] SLAMing on 137.74538475 meters Centerline goodness : 0.902359 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88406833 -0.12400416 -0.45060643 10.10364379] [ 0.15877107 0.98650395 0.04002135 -0.0483764 ] [ 0.43956221 -0.10692487 0.89182517 1.06039865] [ 0. 0. 0. 1. ]] SLAMing on 137.77538475 meters Centerline goodness : 0.901508 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88421061 -0.12386275 -0.45036609 10.10342813] [ 0.15849566 0.98655526 0.0398478 -0.04794883] [ 0.43937538 -0.10661492 0.89195434 1.05971855] [ 0. 0. 0. 1. ]] SLAMing on 137.80538475 meters Centerline goodness : 0.905408 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88446947 -0.12358359 -0.44993427 10.10341679] [ 0.15795234 0.98665664 0.03949344 -0.0473261 ] [ 0.4390499 -0.10599891 0.89218799 1.0582671 ] [ 0. 0. 0. 1. ]] SLAMing on 137.83538475 meters Centerline goodness : 0.905408 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88446947 -0.12358359 -0.44993427 10.10341679] [ 0.15795234 0.98665664 0.03949344 -0.0473261 ] [ 0.4390499 -0.10599891 0.89218799 1.0582671 ] [ 0. 0. 0. 1. ]] SLAMing on 137.86538475 meters Centerline goodness : 0.904971 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.05, Z:1.06 [[ 0.88446177 -0.12390266 -0.44986165 10.10460091] [ 0.1581281 0.9866423 0.03914681 -0.04777853] [ 0.43900214 -0.10575962 0.89223989 1.0576102 ] [ 0. 0. 0. 1. ]] SLAMing on 137.89538475 meters Centerline goodness : 0.907743 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.05, Z:1.06 [[ 0.88424837 -0.12438008 -0.45014932 10.10611787] [ 0.15858047 0.9865792 0.03890646 -0.04815167] [ 0.43926876 -0.10578786 0.89210531 1.05775051] [ 0. 0. 0. 1. ]] SLAMing on 137.92538475 meters Centerline goodness : 0.910590 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.05, Z:1.06 [[ 0.88379869 -0.12557262 -0.45070101 10.1095618 ] [ 0.159716 0.98641733 0.03836198 -0.04938176] [ 0.43976207 -0.10588843 0.8918503 1.05803015] [ 0. 0. 0. 1. ]] SLAMing on 137.95538475 meters Centerline goodness : 0.910916 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.05, Z:1.06 [[ 0.88357371 -0.12615814 -0.45097851 10.11174589] [ 0.16020237 0.98635446 0.03794849 -0.04953529] [ 0.44003715 -0.10577812 0.8917277 1.0577072 ] [ 0. 0. 0. 1. ]] SLAMing on 137.98538475 meters Centerline goodness : 0.909819 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88311636 -0.12784381 -0.45139945 10.11637547] [ 0.16169666 0.98614475 0.03705026 -0.05045182] [ 0.44040855 -0.10570947 0.89155248 1.05716861] [ 0. 0. 0. 1. ]] SLAMing on 138.01538475 meters Centerline goodness : 0.910988 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88284127 -0.13258225 -0.4505699 10.11573697] [ 0.16488631 0.98575997 0.03301189 -0.05022501] [ 0.43977698 -0.10343707 0.89213059 1.05612182] [ 0. 0. 0. 1. ]] SLAMing on 138.04538475 meters Centerline goodness : 0.910853 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88264745 -0.1326168 -0.45093932 10.11682847] [ 0.16508212 0.98571975 0.03323356 -0.05201678] [ 0.44009246 -0.10377554 0.89193568 1.05683084] [ 0. 0. 0. 1. ]] SLAMing on 138.07538475 meters Centerline goodness : 0.910531 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88253886 -0.13274613 -0.45111377 10.11745874] [ 0.16530763 0.98567796 0.03335185 -0.05286436] [ 0.44022557 -0.10400685 0.89184305 1.05725555] [ 0. 0. 0. 1. ]] SLAMing on 138.10538475 meters Centerline goodness : 0.908287 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88227326 -0.13757524 -0.45018546 10.11612576] [ 0.16873977 0.98521556 0.0296174 -0.05221821] [ 0.4394551 -0.10209483 0.89244376 1.05679443] [ 0. 0. 0. 1. ]] SLAMing on 138.13538475000001 meters Centerline goodness : 0.910517 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88227405 -0.13792729 -0.45007618 10.11692078] [ 0.16891995 0.98519675 0.02921322 -0.05077482] [ 0.43938429 -0.10180092 0.8925122 1.05605766] [ 0. 0. 0. 1. ]] SLAMing on 138.16538475000002 meters Centerline goodness : 0.903747 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88221427 -0.13859605 -0.44998791 10.11862962] [ 0.16932709 0.98514641 0.02854605 -0.04871251] [ 0.4393476 -0.10137888 0.89257829 1.05485365] [ 0. 0. 0. 1. ]] SLAMing on 138.19538475000002 meters Centerline goodness : 0.892686 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88223427 -0.13861504 -0.44994284 10.11897573] [ 0.16927016 0.98516045 0.02839888 -0.04809717] [ 0.43932938 -0.10121636 0.89260571 1.05441884] [ 0. 0. 0. 1. ]] SLAMing on 138.22538475000002 meters Centerline goodness : 0.907629 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88208148 -0.13871237 -0.45021232 10.11950231] [ 0.169431 0.98513175 0.02843544 -0.04847303] [ 0.4395741 -0.1013623 0.89246865 1.05493928] [ 0. 0. 0. 1. ]] SLAMing on 138.25538475000002 meters Centerline goodness : 0.905081 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88186797 -0.14363071 -0.44908697 10.11913732] [ 0.1728035 0.98465374 0.02441255 -0.04792934] [ 0.43868877 -0.09913245 0.89315448 1.05342255] [ 0. 0. 0. 1. ]] SLAMing on 138.28538475 meters Centerline goodness : 0.897985 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88201182 -0.14509104 -0.44833441 10.11737147] [ 0.17437879 0.98437402 0.02449133 -0.04950043] [ 0.43777528 -0.09978166 0.89353032 1.05363174] [ 0. 0. 0. 1. ]] SLAMing on 138.31538475 meters Centerline goodness : 0.900316 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88143831 -0.15026243 -0.44775854 10.11824307] [ 0.17770113 0.98388863 0.01963356 -0.04826699] [ 0.43759435 -0.09687297 0.89393893 1.05295713] [ 0. 0. 0. 1. ]] SLAMing on 138.34538475 meters Centerline goodness : 0.909887 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88163762 -0.14951745 -0.44761551 10.11789645] [ 0.17725008 0.98395343 0.02044642 -0.04830615] [ 0.43737572 -0.09736622 0.89399234 1.05283546] [ 0. 0. 0. 1. ]] SLAMing on 138.37538475 meters Centerline goodness : 0.907709 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88167125 -0.14785923 -0.44809982 10.11838017] [ 0.1758477 0.98418817 0.02124203 -0.04799336] [ 0.43787371 -0.09752581 0.89373113 1.05326644] [ 0. 0. 0. 1. ]] SLAMing on 138.40538475 meters Centerline goodness : 0.905369 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.05 [[ 0.88138664 -0.14627262 -0.44917916 10.11935756] [ 0.174337 0.98445117 0.021506 -0.04904023] [ 0.43904921 -0.09726365 0.89318283 1.05482947] [ 0. 0. 0. 1. ]] SLAMing on 138.43538475 meters Centerline goodness : 0.899283 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88121313 -0.1458037 -0.44967177 10.11899699] [ 0.17364653 0.98458314 0.02104587 -0.04996894] [ 0.43967068 -0.09662984 0.89294589 1.05613105] [ 0. 0. 0. 1. ]] SLAMing on 138.46538475 meters Centerline goodness : 0.905338 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88061663 -0.14660248 -0.45057969 10.12172334] [ 0.17487319 0.98435621 0.02149937 -0.05242674] [ 0.44037905 -0.09772701 0.8924773 1.05829293] [ 0. 0. 0. 1. ]] SLAMing on 138.49538475 meters Centerline goodness : 0.906216 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.8806424 -0.14624615 -0.45064512 10.12216267] [ 0.17473076 0.9843704 0.02200165 -0.05339107] [ 0.44038406 -0.09811715 0.89243202 1.05825324] [ 0. 0. 0. 1. ]] SLAMing on 138.52538475 meters Centerline goodness : 0.903931 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88090497 -0.14587357 -0.45025253 10.12339988] [ 0.17528405 0.98422369 0.02406731 -0.05617137] [ 0.43963842 -0.1001231 0.89257685 1.05699025] [ 0. 0. 0. 1. ]] SLAMing on 138.55538475 meters Centerline goodness : 0.902165 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88103245 -0.1458854 -0.44999919 10.12348436] [ 0.17542611 0.98419034 0.02439359 -0.05834075] [ 0.43932619 -0.10043315 0.89269574 1.05667913] [ 0. 0. 0. 1. ]] SLAMing on 138.58538475 meters Centerline goodness : 0.907931 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88031178 -0.14904451 -0.45037419 10.12372464] [ 0.17753307 0.98388193 0.02140943 -0.06055723] [ 0.43992407 -0.09880329 0.89258318 1.05836373] [ 0. 0. 0. 1. ]] SLAMing on 138.61538475 meters Centerline goodness : 0.904725 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88005964 -0.14916965 -0.4508253 10.12465472] [ 0.17759278 0.98387711 0.02113375 -0.06213023] [ 0.44040418 -0.09866228 0.89236199 1.0590058 ] [ 0. 0. 0. 1. ]] SLAMing on 138.64538475 meters Centerline goodness : 0.905320 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.88002048 -0.14801556 -0.45128189 10.12596041] [ 0.17681459 0.98399701 0.02205627 -0.06380373] [ 0.44079536 -0.0992032 0.89210884 1.05918273] [ 0. 0. 0. 1. ]] SLAMing on 138.67538475 meters Centerline goodness : 0.905297 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.87998956 -0.14828576 -0.45125348 10.12660331] [ 0.176875 0.98399684 0.02157421 -0.0621129 ] [ 0.44083285 -0.09880054 0.892135 1.05843842] [ 0. 0. 0. 1. ]] SLAMing on 138.70538475 meters Centerline goodness : 0.903918 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.88032748 -0.14732038 -0.45091046 10.12634686] [ 0.17608944 0.98412256 0.02225511 -0.06167164] [ 0.44047252 -0.09899235 0.8922917 1.05766519] [ 0. 0. 0. 1. ]] SLAMing on 138.73538475 meters Centerline goodness : 0.903977 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.88036054 -0.14708562 -0.45092253 10.12633164] [ 0.17579159 0.9841775 0.02218034 -0.06047247] [ 0.4405254 -0.09879508 0.89228745 1.05774448] [ 0. 0. 0. 1. ]] SLAMing on 138.76538475 meters Centerline goodness : 0.903622 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88058853 -0.14616764 -0.45077585 10.12393676] [ 0.17497622 0.98431223 0.0226442 -0.05973849] [ 0.44039433 -0.09881528 0.89234992 1.05817194] [ 0. 0. 0. 1. ]] SLAMing on 138.79538475 meters Centerline goodness : 0.904909 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.8807552 -0.14554747 -0.45065088 10.12223173] [ 0.17439433 0.98440955 0.02290107 -0.05837031] [ 0.44029184 -0.09876119 0.89240648 1.05839093] [ 0. 0. 0. 1. ]] SLAMing on 138.82538475 meters Centerline goodness : 0.913128 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88070355 -0.14549639 -0.45076829 10.1220989 ] [ 0.17429771 0.9844292 0.02279156 -0.05699917] [ 0.44043338 -0.09864049 0.89234998 1.05849056] [ 0. 0. 0. 1. ]] SLAMing on 138.85538475 meters Centerline goodness : 0.906565 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.06, Z:1.06 [[ 0.88067942 -0.14540819 -0.45084389 10.12174845] [ 0.17421702 0.98444308 0.02280891 -0.0561189 ] [ 0.44051354 -0.09863202 0.89231135 1.05874738] [ 0. 0. 0. 1. ]] SLAMing on 138.88538475000001 meters Centerline goodness : 0.906325 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88102083 -0.14396724 -0.45063926 10.12176716] [ 0.17311954 0.9846108 0.02389987 -0.05292905] [ 0.44026348 -0.09907075 0.89238616 1.05797737] [ 0. 0. 0. 1. ]] SLAMing on 138.91538475000002 meters Centerline goodness : 0.903120 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88101714 -0.14419672 -0.45057308 10.12227379] [ 0.17306956 0.98463407 0.02329531 -0.05057406] [ 0.4402905 -0.09850405 0.89243556 1.0570422 ] [ 0. 0. 0. 1. ]] SLAMing on 138.94538475000002 meters Centerline goodness : 0.904297 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88069946 -0.14450524 -0.45109499 10.12328188] [ 0.17357199 0.98454115 0.02348376 -0.05079505] [ 0.44072806 -0.09897959 0.89216692 1.05821693] [ 0. 0. 0. 1. ]] SLAMing on 138.97538475000002 meters Centerline goodness : 0.904514 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88041358 -0.14514895 -0.45144624 10.12492101] [ 0.17416029 0.98444564 0.02312973 -0.05002852] [ 0.44106702 -0.09898774 0.89199849 1.05845173] [ 0. 0. 0. 1. ]] SLAMing on 139.00538475 meters Centerline goodness : 0.900773 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88046838 -0.14494716 -0.45140421 10.12492224] [ 0.17403355 0.98446308 0.0233403 -0.05032428] [ 0.44100767 -0.09910987 0.89201428 1.05842445] [ 0. 0. 0. 1. ]] SLAMing on 139.03538475 meters Centerline goodness : 0.904655 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88059499 -0.14433168 -0.45135444 10.12395326] [ 0.17369544 0.98450544 0.02406095 -0.0508444 ] [ 0.44088814 -0.09958616 0.89202032 1.05901288] [ 0. 0. 0. 1. ]] SLAMing on 139.06538475 meters Centerline goodness : 0.906609 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88048438 -0.14386933 -0.45171768 10.12347221] [ 0.17373018 0.98447376 0.02508454 -0.05275258] [ 0.44109531 -0.10056354 0.89180822 1.0608798 ] [ 0. 0. 0. 1. ]] SLAMing on 139.09538475 meters Centerline goodness : 0.904693 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.05, Z:1.06 [[ 0.88024609 -0.14393444 -0.45216114 10.12440632] [ 0.17407993 0.98440051 0.02553082 -0.05461029] [ 0.44143289 -0.10118559 0.89157079 1.06206439] [ 0. 0. 0. 1. ]] SLAMing on 139.12538475 meters Centerline goodness : 0.907106 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.87998319 -0.14423823 -0.45257587 10.12565891] [ 0.17456237 0.98431034 0.02571232 -0.05579473] [ 0.44176641 -0.10162912 0.89135513 1.06292429] [ 0. 0. 0. 1. ]] SLAMing on 139.15538475 meters Centerline goodness : 0.903944 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.87943185 -0.14595554 -0.45309668 10.1296386 ] [ 0.17629715 0.98401431 0.02520209 -0.05705969] [ 0.44217524 -0.10204317 0.89110507 1.06350194] [ 0. 0. 0. 1. ]] SLAMing on 139.18538475 meters Centerline goodness : 0.904633 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.06 [[ 0.87914003 -0.14651999 -0.45348065 10.13174251] [ 0.17691371 0.98390696 0.02507249 -0.05769655] [ 0.44250914 -0.10226917 0.89091339 1.06378226] [ 0. 0. 0. 1. ]] SLAMing on 139.21538475 meters Centerline goodness : 0.897068 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.06 [[ 0.87850563 -0.14832933 -0.45412142 10.13679579] [ 0.17873453 0.98359238 0.02449499 -0.0587563 ] [ 0.44303704 -0.10268617 0.89060301 1.06406305] [ 0. 0. 0. 1. ]] SLAMing on 139.24538475 meters Centerline goodness : 0.904296 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.06 [[ 0.87854834 -0.1485521 -0.45396596 10.13675691] [ 0.17937034 0.98345592 0.02531262 -0.06018735] [ 0.44269527 -0.10366639 0.89065941 1.06400783] [ 0. 0. 0. 1. ]] SLAMing on 139.27538475 meters Centerline goodness : 0.899638 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.06 [[ 0.8786104 -0.1485846 -0.4538352 10.13715868] [ 0.17972413 0.98337377 0.02598585 -0.06291606] [ 0.44242853 -0.10439657 0.89070666 1.06388009] [ 0. 0. 0. 1. ]] SLAMing on 139.30538475 meters Centerline goodness : 0.900380 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.07 [[ 0.8784519 -0.14747512 -0.45450341 10.13668004] [ 0.17865767 0.98356339 0.02616271 -0.06346269] [ 0.44317456 -0.1041832 0.89036069 1.06546956] [ 0. 0. 0. 1. ]] SLAMing on 139.33538475 meters Centerline goodness : 0.901378 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.07 [[ 0.878479 -0.14689766 -0.45463801 10.13689051] [ 0.17818482 0.98364078 0.02647621 -0.06304924] [ 0.4433112 -0.10426838 0.8902827 1.06558166] [ 0. 0. 0. 1. ]] SLAMing on 139.36538475 meters Centerline goodness : 0.905936 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.07 [[ 0.87902083 -0.14365369 -0.45462732 10.13569719] [ 0.1759985 0.98395183 0.02938239 -0.06227587] [ 0.44311049 -0.10584146 0.89019699 1.06557615] [ 0. 0. 0. 1. ]] SLAMing on 139.39538475 meters Centerline goodness : 0.900075 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.06, Z:1.07 [[ 0.87918182 -0.14280728 -0.45458267 10.13542848] [ 0.17511544 0.98410515 0.02952363 -0.06073579] [ 0.44314096 -0.10556109 0.89021511 1.06538385] [ 0. 0. 0. 1. ]] SLAMing on 139.42538475 meters Centerline goodness : 0.899894 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.07 [[ 0.87988251 -0.13936516 -0.45429519 10.13182379] [ 0.1730082 0.98436376 0.03310817 -0.0611926 ] [ 0.44257759 -0.10772809 0.89023577 1.0663947 ] [ 0. 0. 0. 1. ]] SLAMing on 139.45538475 meters Centerline goodness : 0.905849 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.07 [[ 0.88016878 -0.14004634 -0.45353053 10.12736956] [ 0.17231572 0.98457299 0.03038621 -0.05860376] [ 0.44227843 -0.10489543 0.89072259 1.06764174] [ 0. 0. 0. 1. ]] SLAMing on 139.48538475 meters Centerline goodness : 0.908223 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.07 [[ 0.88577324 -0.12859711 -0.44594681 10.12766464] [ 0.16214269 0.9860463 0.03771515 -0.06167224] [ 0.43487414 -0.10571408 0.89426451 1.07193186] [ 0. 0. 0. 1. ]] SLAMing on 139.51538475 meters Centerline goodness : 0.905266 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.07 [[ 0.88579322 -0.12846267 -0.44594587 10.12707961] [ 0.16189422 0.98609487 0.03751222 -0.06043685] [ 0.43492601 -0.10542413 0.89427351 1.07183978] [ 0. 0. 0. 1. ]] SLAMing on 139.54538475 meters Centerline goodness : 0.902581 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.06, Z:1.07 [[ 0.88566409 -0.12500708 -0.44718267 10.13113774] [ 0.1593842 0.98640907 0.03992271 -0.05786705] [ 0.43611442 -0.10663196 0.89355125 1.07144937] [ 0. 0. 0. 1. ]] SLAMing on 139.57538475 meters Centerline goodness : 0.902669 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.05, Z:1.07 [[ 0.88556917 -0.12584084 -0.44713681 10.1333182 ] [ 0.15969562 0.98640859 0.03867054 -0.05492966] [ 0.43619326 -0.10565123 0.89362926 1.06956357] [ 0. 0. 0. 1. ]] SLAMing on 139.60538475 meters Centerline goodness : 0.897260 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.05, Z:1.07 [[ 0.88566347 -0.1263127 -0.44681687 10.13450234] [ 0.15973888 0.98643655 0.03776812 -0.05255744] [ 0.43598589 -0.10482387 0.89382787 1.06770618] [ 0. 0. 0. 1. ]] SLAMing on 139.63538475000001 meters Centerline goodness : 0.895404 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.05, Z:1.07 [[ 0.88597066 -0.12583707 -0.44634182 10.13367927] [ 0.15892649 0.986585 0.03731499 -0.05030624] [ 0.43565853 -0.10399553 0.89408421 1.06606198] [ 0. 0. 0. 1. ]] SLAMing on 139.66538475000002 meters Centerline goodness : 0.901091 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88854969 -0.12870013 -0.44035864 10.14600483] [ 0.15738671 0.98710885 0.02907828 -0.04666381] [ 0.43093953 -0.09514409 0.89735095 1.06752177] [ 0. 0. 0. 1. ]] SLAMing on 139.69538475000002 meters Centerline goodness : 0.900031 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.8883767 -0.12879858 -0.44067875 10.14641833] [ 0.15767822 0.98705343 0.02937872 -0.04771375] [ 0.43118953 -0.09558481 0.897184 1.0685009 ] [ 0. 0. 0. 1. ]] SLAMing on 139.72538475000002 meters Centerline goodness : 0.901715 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88803402 -0.1296433 -0.44112152 10.14835652] [ 0.15855528 0.98691996 0.02914145 -0.04814051] [ 0.43157364 -0.09582074 0.89697413 1.06911633] [ 0. 0. 0. 1. ]] SLAMing on 139.75538475 meters Centerline goodness : 0.901715 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88803402 -0.1296433 -0.44112152 10.14835652] [ 0.15855528 0.98691996 0.02914145 -0.04814051] [ 0.43157364 -0.09582074 0.89697413 1.06911633] [ 0. 0. 0. 1. ]] SLAMing on 139.78538475 meters Centerline goodness : 0.902441 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88785209 -0.13011306 -0.44134937 10.14967106] [ 0.15902305 0.98684967 0.02897231 -0.04818593] [ 0.4317758 -0.09590785 0.89686752 1.06925095] [ 0. 0. 0. 1. ]] SLAMing on 139.81538475 meters Centerline goodness : 0.901510 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88771248 -0.13090098 -0.44139721 10.1521382 ] [ 0.15961336 0.98677194 0.02836755 -0.04783602] [ 0.43184504 -0.09563512 0.89686331 1.06825985] [ 0. 0. 0. 1. ]] SLAMing on 139.84538475 meters Centerline goodness : 0.903677 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88773725 -0.13078381 -0.44138212 10.15215677] [ 0.1595582 0.98677626 0.02852722 -0.04792255] [ 0.43181449 -0.09575081 0.89686567 1.06831193] [ 0. 0. 0. 1. ]] SLAMing on 139.87538475 meters Centerline goodness : 0.903382 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88795448 -0.12981868 -0.44123004 10.15032472] [ 0.15894422 0.9868462 0.02951785 -0.04934062] [ 0.43159422 -0.09634148 0.89690844 1.06917464] [ 0. 0. 0. 1. ]] SLAMing on 139.90538475 meters Centerline goodness : 0.906440 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88800835 -0.12964347 -0.44117314 10.15012135] [ 0.15878936 0.98686823 0.0296148 -0.04955874] [ 0.43154039 -0.09635179 0.89693323 1.06911545] [ 0. 0. 0. 1. ]] SLAMing on 139.93538475 meters Centerline goodness : 0.911050 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88836372 -0.12879097 -0.44070715 10.14815202] [ 0.15793131 0.98699683 0.02991592 -0.04925435] [ 0.43112366 -0.09617767 0.8971523 1.06867611] [ 0. 0. 0. 1. ]] SLAMing on 139.96538475 meters Centerline goodness : 0.909486 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.8883894 -0.12871374 -0.44067795 10.14804394] [ 0.157827 0.98701446 0.02988467 -0.04872324] [ 0.43110894 -0.0961001 0.89716769 1.06857531] [ 0. 0. 0. 1. ]] SLAMing on 139.99538475 meters Centerline goodness : 0.908538 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.8883112 -0.12901866 -0.44074641 10.14910817] [ 0.15798368 0.9870013 0.02948881 -0.04845551] [ 0.43121267 -0.09582598 0.89714715 1.06810397] [ 0. 0. 0. 1. ]] SLAMing on 140.02538475 meters Centerline goodness : 0.907878 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88830331 -0.12927443 -0.44068736 10.15010288] [ 0.15807532 0.98699809 0.02910277 -0.0480825 ] [ 0.43119534 -0.09551389 0.89718876 1.0673074 ] [ 0. 0. 0. 1. ]] SLAMing on 140.05538475 meters Centerline goodness : 0.908904 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88825898 -0.12954477 -0.44069733 10.15141796] [ 0.1581728 0.9869949 0.02867815 -0.0473732 ] [ 0.43125091 -0.09517995 0.89719754 1.06646522] [ 0. 0. 0. 1. ]] SLAMing on 140.08538475 meters Centerline goodness : 0.911817 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88842183 -0.12899076 -0.44053154 10.15054415] [ 0.1578621 0.98702479 0.02935332 -0.04898685] [ 0.43102925 -0.09562137 0.89725712 1.06687512] [ 0. 0. 0. 1. ]] SLAMing on 140.11538475 meters Centerline goodness : 0.911884 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88855001 -0.1282956 -0.44047602 10.14946754] [ 0.157445 0.98706873 0.03010647 -0.050166 ] [ 0.43091758 -0.09610186 0.89725943 1.06752118] [ 0. 0. 0. 1. ]] SLAMing on 140.14538475 meters Centerline goodness : 0.915066 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88863319 -0.12772653 -0.44047359 10.1486732 ] [ 0.15720209 0.98708237 0.03091759 -0.05198786] [ 0.43083472 -0.09671777 0.89723304 1.06842999] [ 0. 0. 0. 1. ]] SLAMing on 140.17538475 meters Centerline goodness : 0.917068 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88856211 -0.12767303 -0.44063247 10.14904778] [ 0.15725911 0.98706691 0.03112041 -0.05236125] [ 0.43096049 -0.09694588 0.89714801 1.06879325] [ 0. 0. 0. 1. ]] SLAMing on 140.20538475 meters Centerline goodness : 0.917255 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88833672 -0.12825364 -0.44091823 10.1510151 ] [ 0.15779902 0.98698985 0.03083025 -0.05265343] [ 0.43122772 -0.0969641 0.89701762 1.06876572] [ 0. 0. 0. 1. ]] SLAMing on 140.23538475 meters Centerline goodness : 0.915740 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88830018 -0.12827376 -0.44098597 10.15161719] [ 0.15783014 0.98698483 0.03083156 -0.05284807] [ 0.43129158 -0.09698856 0.89698427 1.06866164] [ 0. 0. 0. 1. ]] SLAMing on 140.26538475 meters Centerline goodness : 0.917691 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88844332 -0.12818975 -0.44072198 10.15196994] [ 0.15761833 0.98702431 0.03065096 -0.05209987] [ 0.43107417 -0.09669751 0.8971202 1.06766154] [ 0. 0. 0. 1. ]] SLAMing on 140.29538475 meters Centerline goodness : 0.915546 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88860575 -0.12791111 -0.44047538 10.15154532] [ 0.15728147 0.9870779 0.0306555 -0.05174255] [ 0.43086233 -0.09651927 0.89724115 1.06708347] [ 0. 0. 0. 1. ]] SLAMing on 140.32538475 meters Centerline goodness : 0.913265 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.8889057 -0.12699135 -0.44013617 10.14960657] [ 0.15652147 0.98717895 0.03128495 -0.05197252] [ 0.43052025 -0.09670013 0.89738587 1.06721732] [ 0. 0. 0. 1. ]] SLAMing on 140.35538475 meters Centerline goodness : 0.917182 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88896049 -0.12645647 -0.44017952 10.14840891] [ 0.15637352 0.98717285 0.03220388 -0.05355468] [ 0.43046088 -0.0974604 0.8973321 1.06860192] [ 0. 0. 0. 1. ]] SLAMing on 140.38538475000001 meters Centerline goodness : 0.919114 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88898139 -0.12634556 -0.44016915 10.14850687] [ 0.1563551 0.98716853 0.03242485 -0.05446744] [ 0.4304244 -0.09764778 0.89732923 1.06871871] [ 0. 0. 0. 1. ]] SLAMing on 140.41538475000002 meters Centerline goodness : 0.918117 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88896081 -0.12664318 -0.44012518 10.14994537] [ 0.15650349 0.98715706 0.03205624 -0.0539842 ] [ 0.43041298 -0.09737787 0.89736404 1.06776311] [ 0. 0. 0. 1. ]] SLAMing on 140.44538475000002 meters Centerline goodness : 0.914673 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.05, Z:1.07 [[ 0.88885694 -0.1268412 -0.44027792 10.1509435 ] [ 0.15667851 0.98713357 0.03192433 -0.05438917] [ 0.43056379 -0.09735825 0.89729382 1.0676972 ] [ 0. 0. 0. 1. ]] SLAMing on 140.47538475000002 meters Centerline goodness : 0.915613 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.06, Z:1.07 [[ 0.88882451 -0.12675114 -0.44036932 10.15137616] [ 0.15666495 0.98713063 0.03208151 -0.0554397 ] [ 0.43063567 -0.09750527 0.89724336 1.06781841] [ 0. 0. 0. 1. ]] SLAMing on 140.50538475 meters Centerline goodness : 0.913013 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.06, Z:1.07 [[ 0.88854249 -0.12739828 -0.44075154 10.15346011] [ 0.15738611 0.98701886 0.03199022 -0.05636942] [ 0.43095459 -0.09779284 0.89705892 1.06821726] [ 0. 0. 0. 1. ]] SLAMing on 140.53538475 meters Centerline goodness : 0.915947 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.06, Z:1.07 [[ 0.8879626 -0.13251254 -0.44041214 10.152926 ] [ 0.16152701 0.986446 0.02886723 -0.05856059] [ 0.43061752 -0.09677148 0.89733151 1.06978229] [ 0. 0. 0. 1. ]] SLAMing on 140.56538475 meters Centerline goodness : 0.913311 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.06, Z:1.07 [[ 0.88767533 -0.13338284 -0.44072841 10.15507731] [ 0.16222716 0.98634946 0.02823271 -0.05744075] [ 0.43094647 -0.09655959 0.8971964 1.06949181] [ 0. 0. 0. 1. ]] SLAMing on 140.59538475 meters Centerline goodness : 0.908059 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88716243 -0.13175634 -0.44224778 10.16305801] [ 0.16133796 0.98645037 0.02976134 -0.05411406] [ 0.43233424 -0.0977545 0.896399 1.06856655] [ 0. 0. 0. 1. ]] SLAMing on 140.62538475 meters Centerline goodness : 0.906603 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88700382 -0.13239411 -0.44237544 10.16489659] [ 0.1617362 0.98640533 0.02908473 -0.05267491] [ 0.43251084 -0.09734639 0.89635822 1.06774338] [ 0. 0. 0. 1. ]] SLAMing on 140.65538475 meters Centerline goodness : 0.907843 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88714621 -0.13186403 -0.44224821 10.16423669] [ 0.16119135 0.98649084 0.02920902 -0.05256879] [ 0.43242219 -0.09719926 0.89641695 1.06743022] [ 0. 0. 0. 1. ]] SLAMing on 140.68538475 meters Centerline goodness : 0.904781 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88733644 -0.1321127 -0.44179213 10.16191424] [ 0.16117231 0.98650861 0.02870975 -0.05233495] [ 0.43203882 -0.09667987 0.89665794 1.06802521] [ 0. 0. 0. 1. ]] SLAMing on 140.71538475 meters Centerline goodness : 0.914133 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88759757 -0.13023189 -0.44182598 10.15825927] [ 0.16000149 0.98664203 0.03061088 -0.05448297] [ 0.43193757 -0.09786296 0.89657837 1.07038304] [ 0. 0. 0. 1. ]] SLAMing on 140.74538475 meters Centerline goodness : 0.913066 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88766168 -0.12991301 -0.44179107 10.15763573] [ 0.1597441 0.98667719 0.03082116 -0.05474451] [ 0.4319011 -0.09793228 0.89658837 1.07057711] [ 0. 0. 0. 1. ]] SLAMing on 140.77538475 meters Centerline goodness : 0.914594 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88756337 -0.13033507 -0.44186427 10.15918364] [ 0.16002675 0.98664397 0.0304156 -0.0534453 ] [ 0.4319985 -0.09770587 0.89656615 1.06986653] [ 0. 0. 0. 1. ]] SLAMing on 140.80538475 meters Centerline goodness : 0.908571 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.8874047 -0.13094173 -0.44200358 10.16108506] [ 0.16045561 0.98659096 0.0298711 -0.05261665] [ 0.43216537 -0.09742971 0.89651578 1.06916947] [ 0. 0. 0. 1. ]] SLAMing on 140.83538475 meters Centerline goodness : 0.905314 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88711677 -0.13202264 -0.44225994 10.16430336] [ 0.16118884 0.98650225 0.0288353 -0.05102531] [ 0.43248351 -0.09686765 0.89642327 1.06796242] [ 0. 0. 0. 1. ]] SLAMing on 140.86538475 meters Centerline goodness : 0.904829 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88726493 -0.13080434 -0.44232473 10.16422139] [ 0.16025743 0.98662844 0.02969656 -0.05099276] [ 0.43252571 -0.09723454 0.89636318 1.06801472] [ 0. 0. 0. 1. ]] SLAMing on 140.89538475 meters Centerline goodness : 0.906334 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88749293 -0.12990867 -0.44213124 10.16261532] [ 0.15949346 0.98673616 0.03022572 -0.05184393] [ 0.4323403 -0.09734215 0.89644095 1.06817393] [ 0. 0. 0. 1. ]] SLAMing on 140.92538475 meters Centerline goodness : 0.910403 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88759845 -0.12928491 -0.44210226 10.16169582] [ 0.15902145 0.98679794 0.03069225 -0.0525509 ] [ 0.43229756 -0.09754613 0.89643939 1.06853827] [ 0. 0. 0. 1. ]] SLAMing on 140.95538475 meters Centerline goodness : 0.913357 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88782026 -0.12854075 -0.44187382 10.16025518] [ 0.15814653 0.98693982 0.03065063 -0.05142086] [ 0.43216301 -0.09709306 0.89655344 1.06797324] [ 0. 0. 0. 1. ]] SLAMing on 140.98538475 meters Centerline goodness : 0.913930 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88799955 -0.12808341 -0.44164629 10.15919362] [ 0.15756642 0.98703546 0.03055849 -0.05003148] [ 0.43200651 -0.09672455 0.89666869 1.06738975] [ 0. 0. 0. 1. ]] SLAMing on 141.01538475 meters Centerline goodness : 0.915340 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88823533 -0.12349083 -0.44247938 10.16076995] [ 0.15414566 0.9874684 0.03384187 -0.04821693] [ 0.43275525 -0.09826582 0.8961399 1.06725591] [ 0. 0. 0. 1. ]] SLAMing on 141.04538475 meters Centerline goodness : 0.910447 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88857274 -0.12275387 -0.44200676 10.15958105] [ 0.15319186 0.98762229 0.03368194 -0.04633919] [ 0.43240114 -0.09764069 0.89637913 1.06584621] [ 0. 0. 0. 1. ]] SLAMing on 141.07538475 meters Centerline goodness : 0.917185 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88870743 -0.12249734 -0.44180709 10.15893939] [ 0.15290503 0.98766515 0.03372849 -0.04635585] [ 0.43222581 -0.09752928 0.89647581 1.06560803] [ 0. 0. 0. 1. ]] SLAMing on 141.10538475 meters Centerline goodness : 0.922375 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88887716 -0.12137299 -0.44177595 10.15667825] [ 0.15210125 0.98775697 0.03466082 -0.04776584] [ 0.43216038 -0.09800389 0.8964556 1.06672634] [ 0. 0. 0. 1. ]] SLAMing on 141.13538475000001 meters Centerline goodness : 0.921292 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88882484 -0.12075874 -0.44204947 10.15556919] [ 0.15195577 0.98774215 0.03570544 -0.05014172] [ 0.43231916 -0.09890785 0.89627975 1.06859592] [ 0. 0. 0. 1. ]] SLAMing on 141.16538475000002 meters Centerline goodness : 0.924349 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88867154 -0.12101286 -0.44228813 10.15605377] [ 0.15237117 0.98767037 0.03592026 -0.05114258] [ 0.43248807 -0.09931327 0.89615342 1.06944872] [ 0. 0. 0. 1. ]] SLAMing on 141.19538475000002 meters Centerline goodness : 0.924878 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88851607 -0.12158821 -0.44244266 10.15804006] [ 0.1527915 0.98762325 0.03542687 -0.05068878] [ 0.43265917 -0.09907882 0.89609677 1.06875897] [ 0. 0. 0. 1. ]] SLAMing on 141.22538475000002 meters Centerline goodness : 0.919315 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.05, Z:1.07 [[ 0.88812441 -0.12310774 -0.44280866 10.16273135] [ 0.15384285 0.98750972 0.03401356 -0.04966519] [ 0.43309053 -0.09833122 0.89597074 1.06700302] [ 0. 0. 0. 1. ]] SLAMing on 141.25538475 meters Centerline goodness : 0.920198 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88782739 -0.1239396 -0.44317208 10.16556484] [ 0.15451042 0.98742679 0.03338952 -0.04998554] [ 0.4334617 -0.09811883 0.89581452 1.0665088 ] [ 0. 0. 0. 1. ]] SLAMing on 141.28538475 meters Centerline goodness : 0.920496 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88783995 -0.12367983 -0.4432195 10.16574003] [ 0.15438804 0.98743465 0.03372171 -0.05133227] [ 0.4334796 -0.09836727 0.89577861 1.06669784] [ 0. 0. 0. 1. ]] SLAMing on 141.31538475 meters Centerline goodness : 0.922083 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88770194 -0.12373294 -0.44348103 10.16660277] [ 0.15457265 0.98739914 0.03391497 -0.05246952] [ 0.43369639 -0.09865642 0.89564187 1.06715209] [ 0. 0. 0. 1. ]] SLAMing on 141.34538475 meters Centerline goodness : 0.919906 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88747032 -0.12390575 -0.44389615 10.16822649] [ 0.15491517 0.9873384 0.03411994 -0.05409335] [ 0.43404806 -0.09904668 0.89542841 1.06773326] [ 0. 0. 0. 1. ]] SLAMing on 141.37538475 meters Centerline goodness : 0.921533 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88725937 -0.12819887 -0.44309802 10.17160909] [ 0.15831445 0.98688683 0.03147882 -0.05477284] [ 0.43325205 -0.09807869 0.89592033 1.06627255] [ 0. 0. 0. 1. ]] SLAMing on 141.40538475 meters Centerline goodness : 0.920453 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.05, Z:1.07 [[ 0.88687456 -0.12884604 -0.44368031 10.17371538] [ 0.15904133 0.98677417 0.03134637 -0.05497696] [ 0.43377341 -0.0983638 0.89563675 1.06697241] [ 0. 0. 0. 1. ]] SLAMing on 141.43538475 meters Centerline goodness : 0.922316 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88680214 -0.12900423 -0.44377908 10.17477433] [ 0.15924833 0.98673954 0.03138541 -0.05596588] [ 0.43384552 -0.09850373 0.89558645 1.06691736] [ 0. 0. 0. 1. ]] SLAMing on 141.46538475 meters Centerline goodness : 0.921450 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88686447 -0.12883301 -0.44370426 10.17478999] [ 0.1591844 0.98674091 0.03166565 -0.05681519] [ 0.43374156 -0.09871393 0.89561365 1.06697789] [ 0. 0. 0. 1. ]] SLAMing on 141.49538475 meters Centerline goodness : 0.931180 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88697593 -0.12780849 -0.44377775 10.17315178] [ 0.15885437 0.98673964 0.03331915 -0.05919656] [ 0.43363462 -0.10004932 0.89551725 1.06899259] [ 0. 0. 0. 1. ]] SLAMing on 141.52538475 meters Centerline goodness : 0.929788 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88705638 -0.12734983 -0.44374879 10.1723181 ] [ 0.15860371 0.98676146 0.03386269 -0.06018007] [ 0.4335618 -0.10041832 0.89551121 1.06956091] [ 0. 0. 0. 1. ]] SLAMing on 141.55538475 meters Centerline goodness : 0.936313 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88664762 -0.12694329 -0.44468123 10.17185206] [ 0.15915502 0.98660825 0.03569101 -0.06263813] [ 0.43419543 -0.1024186 0.89497752 1.07371169] [ 0. 0. 0. 1. ]] SLAMing on 141.58538475 meters Centerline goodness : 0.939303 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88650107 -0.12722719 -0.44489223 10.17291708] [ 0.15937943 0.98658081 0.03544708 -0.06237914] [ 0.43441231 -0.10233055 0.89488234 1.07362635] [ 0. 0. 0. 1. ]] SLAMing on 141.61538475 meters Centerline goodness : 0.938871 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.06, Z:1.07 [[ 0.88630174 -0.12776394 -0.44513549 10.17455081] [ 0.1598445 0.9865176 0.03511084 -0.06210114] [ 0.43464809 -0.10227126 0.89477462 1.07348906] [ 0. 0. 0. 1. ]] SLAMing on 141.64538475 meters Centerline goodness : 0.934553 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88613016 -0.12875852 -0.4451905 10.17705421] [ 0.16040195 0.98646722 0.03396511 -0.06005047] [ 0.43479254 -0.10150693 0.89479148 1.07194604] [ 0. 0. 0. 1. ]] SLAMing on 141.67538475 meters Centerline goodness : 0.934553 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88613016 -0.12875852 -0.4451905 10.17705421] [ 0.16040195 0.98646722 0.03396511 -0.06005047] [ 0.43479254 -0.10150693 0.89479148 1.07194604] [ 0. 0. 0. 1. ]] SLAMing on 141.70538475 meters Centerline goodness : 0.933886 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88617161 -0.12920769 -0.44497781 10.1782704 ] [ 0.16045689 0.98648756 0.03310403 -0.05861889] [ 0.43468778 -0.10073561 0.89492953 1.07031355] [ 0. 0. 0. 1. ]] SLAMing on 141.73538475 meters Centerline goodness : 0.936699 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.8860941 -0.12956314 -0.4450288 10.17914853] [ 0.16070869 0.98645691 0.03279466 -0.05824847] [ 0.43475276 -0.10057915 0.89491557 1.0700166 ] [ 0. 0. 0. 1. ]] SLAMing on 141.76538475 meters Centerline goodness : 0.936493 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88595247 -0.1301425 -0.44514171 10.18057532] [ 0.16104719 0.98642342 0.03213482 -0.05767744] [ 0.4349161 -0.10015875 0.89488335 1.06940706] [ 0. 0. 0. 1. ]] SLAMing on 141.79538475 meters Centerline goodness : 0.936332 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88585965 -0.13025854 -0.44529248 10.18133001] [ 0.1611004 0.98642106 0.03193984 -0.05766361] [ 0.43508544 -0.10003101 0.89481532 1.06926298] [ 0. 0. 0. 1. ]] SLAMing on 141.82538475 meters Centerline goodness : 0.939731 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88581842 -0.13040662 -0.44533116 10.18195314] [ 0.16119842 0.98640981 0.03179244 -0.05759069] [ 0.43513308 -0.09994901 0.89480132 1.06905001] [ 0. 0. 0. 1. ]] SLAMing on 141.85538475 meters Centerline goodness : 0.936413 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.06, Z:1.07 [[ 0.88559219 -0.13080901 -0.44566295 10.1832435 ] [ 0.16158472 0.98635341 0.03158047 -0.05709828] [ 0.43545016 -0.09997974 0.89464362 1.06927832] [ 0. 0. 0. 1. ]] SLAMing on 141.88538475000001 meters Centerline goodness : 0.934479 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88533651 -0.13146521 -0.44597776 10.1851978 ] [ 0.16214883 0.98627429 0.03115742 -0.05734103] [ 0.43576028 -0.09989958 0.89450157 1.06919282] [ 0. 0. 0. 1. ]] SLAMing on 141.91538475000002 meters Centerline goodness : 0.932962 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88498801 -0.13200552 -0.44650953 10.1866256 ] [ 0.16282615 0.98616211 0.03117594 -0.05782155] [ 0.43621539 -0.10029376 0.89423559 1.07019729] [ 0. 0. 0. 1. ]] SLAMing on 141.94538475000002 meters Centerline goodness : 0.935860 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88461229 -0.13259228 -0.44707983 10.18795191] [ 0.1637092 0.98600564 0.0314987 -0.0598895 ] [ 0.43664675 -0.10105522 0.89393929 1.07193871] [ 0. 0. 0. 1. ]] SLAMing on 141.97538475000002 meters Centerline goodness : 0.934522 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88448029 -0.13309952 -0.44719028 10.18948321] [ 0.16395774 0.98598574 0.0308217 -0.05791893] [ 0.43682088 -0.1005815 0.89390765 1.07103466] [ 0. 0. 0. 1. ]] SLAMing on 142.00538475 meters Centerline goodness : 0.936581 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88498221 -0.13105002 -0.44680239 10.1878669 ] [ 0.16301805 0.9860482 0.03367583 -0.05765392] [ 0.43615548 -0.10263937 0.89399863 1.07094917] [ 0. 0. 0. 1. ]] SLAMing on 142.03538475 meters Centerline goodness : 0.939181 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.88493379 -0.13100161 -0.44691249 10.18784373] [ 0.16297037 0.98605663 0.0336598 -0.05698683] [ 0.43627154 -0.10262019 0.89394421 1.07109602] [ 0. 0. 0. 1. ]] SLAMing on 142.06538475 meters Centerline goodness : 0.940308 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.89091012 -0.11850181 -0.4384478 10.18899614] [ 0.15205388 0.98747614 0.04207715 -0.06379146] [ 0.42797053 -0.10415464 0.89777115 1.07315146] [ 0. 0. 0. 1. ]] SLAMing on 142.09538475 meters Centerline goodness : 0.940548 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.89086353 -0.11871969 -0.43848353 10.18914328] [ 0.15209732 0.98748747 0.04165206 -0.06285105] [ 0.42805207 -0.10379847 0.89777352 1.07286288] [ 0. 0. 0. 1. ]] SLAMing on 142.12538475 meters Centerline goodness : 0.939469 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.89070017 -0.11937347 -0.43863786 10.19031772] [ 0.15251185 0.98745248 0.04096022 -0.06163734] [ 0.42824448 -0.10338074 0.89772996 1.07239777] [ 0. 0. 0. 1. ]] SLAMing on 142.15538475 meters Centerline goodness : 0.941760 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.89038659 -0.1198318 -0.43914926 10.19111799] [ 0.15307893 0.98736529 0.0409466 -0.06192327] [ 0.42869403 -0.1036828 0.89748053 1.07356318] [ 0. 0. 0. 1. ]] SLAMing on 142.18538475 meters Centerline goodness : 0.939903 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.06, Z:1.07 [[ 0.89010139 -0.12125034 -0.43933799 10.19403904] [ 0.15395186 0.98729127 0.03943061 -0.05897654] [ 0.42897358 -0.10273415 0.89745605 1.0719854 ] [ 0. 0. 0. 1. ]] SLAMing on 142.21538475 meters Centerline goodness : 0.934799 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.06, Z:1.07 [[ 0.88987406 -0.12248632 -0.43945564 10.19680773] [ 0.15454623 0.98726314 0.03777502 -0.05568381] [ 0.42923143 -0.10153122 0.89746966 1.06994489] [ 0. 0. 0. 1. ]] SLAMing on 142.24538475 meters Centerline goodness : 0.936082 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.06, Z:1.07 [[ 0.88981082 -0.12264755 -0.43953871 10.19727942] [ 0.15454033 0.98727959 0.03736699 -0.05531287] [ 0.42936463 -0.101176 0.89744606 1.06958649] [ 0. 0. 0. 1. ]] SLAMing on 142.27538475 meters Centerline goodness : 0.943177 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.05, Z:1.07 [[ 0.8925411 -0.12468935 -0.43338546 10.20778452] [ 0.15208469 0.98794276 0.02897166 -0.05227531] [ 0.42454757 -0.09176969 0.90074285 1.0706715 ] [ 0. 0. 0. 1. ]] SLAMing on 142.30538475 meters Centerline goodness : 0.944768 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.05, Z:1.07 [[ 0.89255775 -0.12381719 -0.43360117 10.20572926] [ 0.15176099 0.98795327 0.03028094 -0.05346372] [ 0.42462839 -0.09283123 0.90059597 1.07287628] [ 0. 0. 0. 1. ]] SLAMing on 142.33538475 meters Centerline goodness : 0.949968 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.06, Z:1.08 [[ 0.89229806 -0.12336799 -0.43426318 10.20487181] [ 0.1521184 0.98784636 0.03193071 -0.05527927] [ 0.42504607 -0.09455113 0.90021993 1.07630965] [ 0. 0. 0. 1. ]] SLAMing on 142.36538475 meters Centerline goodness : 0.948585 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.05, Z:1.08 [[ 0.89203306 -0.12427305 -0.43454946 10.20741626] [ 0.15283239 0.9877579 0.03125043 -0.05430905] [ 0.42534607 -0.09428965 0.90010565 1.07571879] [ 0. 0. 0. 1. ]] SLAMing on 142.39538475 meters Centerline goodness : 0.945467 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.05, Z:1.08 [[ 0.89134415 -0.12626654 -0.43538761 10.2123341 ] [ 0.15468362 0.9874996 0.03029069 -0.05429416] [ 0.42612039 -0.09434676 0.89973335 1.07591421] [ 0. 0. 0. 1. ]] SLAMing on 142.42538475 meters Centerline goodness : 0.945843 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.05, Z:1.08 [[ 0.89117369 -0.12683397 -0.43557157 10.2141286 ] [ 0.15508232 0.98745319 0.02976016 -0.05401529] [ 0.42633194 -0.09407092 0.89966201 1.07537498] [ 0. 0. 0. 1. ]] SLAMing on 142.45538475 meters Centerline goodness : 0.943050 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:1.08 [[ 0.89081939 -0.12763261 -0.43606277 10.21694914] [ 0.15582286 0.98734932 0.02933535 -0.05468293] [ 0.42680213 -0.09408105 0.89943799 1.07538567] [ 0. 0. 0. 1. ]] SLAMing on 142.48538475 meters Centerline goodness : 0.943727 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.89068628 -0.12748842 -0.43637673 10.21734194] [ 0.15587772 0.98732943 0.02971075 -0.05544016] [ 0.42705981 -0.09448437 0.89927338 1.07619697] [ 0. 0. 0. 1. ]] SLAMing on 142.51538475 meters Centerline goodness : 0.948975 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.89074641 -0.12618679 -0.43663225 10.21534689] [ 0.15531474 0.98736269 0.03150001 -0.05842409] [ 0.42713951 -0.09587394 0.89908844 1.07866572] [ 0. 0. 0. 1. ]] SLAMing on 142.54538475 meters Centerline goodness : 0.950560 Centerline is valid? [False, True] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.89064211 -0.12612934 -0.43686157 10.21550303] [ 0.15543453 0.98733329 0.03182894 -0.05940107] [ 0.42731341 -0.09625157 0.89896545 1.07944071] [ 0. 0. 0. 1. ]] SLAMing on 142.57538475 meters Centerline goodness : 0.949023 Centerline is valid? [True, False] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.89012802 -0.12706388 -0.43763785 10.21843163] [ 0.15637951 0.98719642 0.03144329 -0.05899458] [ 0.42803921 -0.09642614 0.89860138 1.08001642] [ 0. 0. 0. 1. ]] SLAMing on 142.60538475 meters Centerline goodness : 0.947911 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.88988993 -0.12800534 -0.43784763 10.22083696] [ 0.15701256 0.98712466 0.03052814 -0.05772761] [ 0.42830243 -0.09591426 0.89853074 1.07913556] [ 0. 0. 0. 1. ]] SLAMing on 142.63538475000001 meters Centerline goodness : 0.940959 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.06, Z:1.08 [[ 0.88938525 -0.12960365 -0.43840253 10.2248484 ] [ 0.15808048 0.98700285 0.02891241 -0.05550033] [ 0.42895739 -0.09501715 0.89831359 1.07792274] [ 0. 0. 0. 1. ]] SLAMing on 142.66538475000002 meters Centerline goodness : 0.941326 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.06, Z:1.08 [[ 0.8891636 -0.12987202 -0.43877255 10.22552702] [ 0.15839625 0.9869538 0.02885889 -0.05539607] [ 0.42930027 -0.0951602 0.89813463 1.07859797] [ 0. 0. 0. 1. ]] SLAMing on 142.69538475000002 meters Centerline goodness : 0.942755 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:1.08 [[ 0.88924348 -0.12966158 -0.4386729 10.22466843] [ 0.15816573 0.98698986 0.02888982 -0.05432541] [ 0.42921981 -0.09507311 0.89818231 1.07861043] [ 0. 0. 0. 1. ]] SLAMing on 142.72538475000002 meters Centerline goodness : 0.944668 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.06, Z:1.08 [[ 0.88923118 -0.12497888 -0.44005476 10.22604836] [ 0.15530088 0.98730175 0.03341975 -0.05535007] [ 0.43029008 -0.09805878 0.89734883 1.08122665] [ 0. 0. 0. 1. ]] SLAMing on 142.75538475 meters Centerline goodness : 0.946927 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:1.08 [[ 0.88934618 -0.12461823 -0.43992461 10.2242195 ] [ 0.1551154 0.9873145 0.03390105 -0.05474526] [ 0.43011926 -0.09838885 0.89739459 1.08204747] [ 0. 0. 0. 1. ]] SLAMing on 142.78538475 meters Centerline goodness : 0.948485 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:1.08 [[ 0.88930549 -0.12467986 -0.4399894 10.2240674 ] [ 0.15517166 0.9873071 0.03385922 -0.05424804] [ 0.43018309 -0.09838508 0.89736441 1.08226813] [ 0. 0. 0. 1. ]] SLAMing on 142.81538475 meters Centerline goodness : 0.950308 Centerline is valid? [False, True] Translation: X:10.22, Y:-0.05, Z:1.08 [[ 0.88924743 -0.12446973 -0.44016622 10.22338685] [ 0.15504111 0.98732179 0.0340286 -0.05425284] [ 0.43035017 -0.0985037 0.89727128 1.08300613] [ 0. 0. 0. 1. ]] SLAMing on 142.84538475 meters Centerline goodness : 0.950603 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.01, Z:1.03 [[ 8.89193192e-01 -1.71232083e-01 -4.24281795e-01 1.02744341e+01] [ 1.54852043e-01 9.85230464e-01 -7.30874696e-02 -6.34780170e-03] [ 4.30530269e-01 -7.12022325e-04 9.02575859e-01 1.02582967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87538475 meters Centerline goodness : 0.950331 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.00, Z:1.04 [[ 8.89347287e-01 -1.70486931e-01 -4.24258894e-01 1.02996120e+01] [ 1.53963110e-01 9.85359917e-01 -7.32201833e-02 -2.34556139e-04] [ 4.30530793e-01 -2.02047281e-04 9.02575867e-01 1.03709322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90538475 meters Centerline goodness : 0.951689 Centerline is valid? [True, True] Translation: X:10.33, Y:0.00, Z:1.05 [[ 8.89398408e-01 -1.70237665e-01 -4.24251822e-01 1.03253298e+01] [ 1.53667398e-01 9.85403032e-01 -7.32611411e-02 4.91502239e-03] [ 4.30530837e-01 -3.53310931e-05 9.02575868e-01 1.04986573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93538475 meters Centerline goodness : 0.952292 Centerline is valid? [True, True] Translation: X:10.35, Y:0.01, Z:1.06 [[ 8.89610773e-01 -1.69175160e-01 -4.24231585e-01 1.03497844e+01] [ 1.52434422e-01 9.85585812e-01 -7.33781606e-02 8.37120749e-03] [ 4.30530393e-01 6.10505665e-04 9.02575874e-01 1.06332333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96538475 meters Centerline goodness : 0.951261 Centerline is valid? [True, True] Translation: X:10.37, Y:0.01, Z:1.07 [[ 8.89767398e-01 -1.68408553e-01 -4.24208130e-01 1.03745713e+01] [ 1.51520582e-01 9.85716630e-01 -7.35135290e-02 1.22394129e-02] [ 4.30529315e-01 1.13367850e-03 9.02575882e-01 1.07459543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters Centerline goodness : 0.948281 Centerline is valid? [True, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.90082337e-01 -1.63196691e-01 -4.25582275e-01 1.03748709e+01] [ 1.47530931e-01 9.86593317e-01 -6.97728513e-02 1.10872207e-02] [ 4.31263327e-01 -6.82966914e-04 9.02225845e-01 1.07605975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02538475 meters Centerline goodness : 0.946267 Centerline is valid? [False, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.90573891e-01 -1.60056763e-01 -4.25746377e-01 1.03749265e+01] [ 1.46005966e-01 9.87100995e-01 -6.56801572e-02 1.01997310e-02] [ 4.30767226e-01 -3.66847806e-03 9.02455616e-01 1.07562253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05538475 meters Centerline goodness : 0.950184 Centerline is valid? [False, True] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.90791781e-01 -1.60373381e-01 -4.25171003e-01 1.03735100e+01] [ 1.46524281e-01 9.87047871e-01 -6.53233151e-02 9.86758977e-03] [ 4.30140254e-01 -4.10840309e-03 9.02752725e-01 1.07552290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08538475 meters Centerline goodness : 0.946777 Centerline is valid? [True, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.91220523e-01 -1.56855657e-01 -4.25584636e-01 1.03733945e+01] [ 1.44538739e-01 9.87597651e-01 -6.13142152e-02 9.03275051e-03] [ 4.29923868e-01 -6.86897952e-03 9.02839014e-01 1.07566870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11538475 meters Centerline goodness : 0.948783 Centerline is valid? [False, False] Translation: X:10.38, Y:0.00, Z:1.08 [[ 8.96436243e-01 -1.44029522e-01 -4.19115210e-01 1.03772418e+01] [ 1.35552275e-01 9.89501981e-01 -5.01139650e-02 4.66226621e-03] [ 4.21933221e-01 -1.18880457e-02 9.06548968e-01 1.07851280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14538475 meters Centerline goodness : 0.947732 Centerline is valid? [False, False] Translation: X:10.38, Y:0.00, Z:1.08 [[ 8.96418297e-01 -1.44522496e-01 -4.18983872e-01 1.03752174e+01] [ 1.35787701e-01 9.89436088e-01 -5.07732979e-02 4.02181328e-03] [ 4.21895647e-01 -1.13787436e-02 9.06572991e-01 1.07978240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17538475 meters Centerline goodness : 0.948512 Centerline is valid? [False, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.96332068e-01 -1.43533997e-01 -4.19507825e-01 1.03738952e+01] [ 1.34187433e-01 9.89596958e-01 -5.18805752e-02 7.07674606e-03] [ 4.22590293e-01 -9.79045485e-03 9.06267947e-01 1.08154303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20538475 meters Centerline goodness : 0.949303 Centerline is valid? [False, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 8.96896180e-01 -1.39893711e-01 -4.19531872e-01 1.03714507e+01] [ 1.31645375e-01 9.90099284e-01 -4.87124580e-02 7.21815556e-03] [ 4.22192773e-01 -1.15394132e-02 9.06432625e-01 1.08239240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters Centerline goodness : 0.945169 Centerline is valid? [False, False] Translation: X:10.37, Y:0.01, Z:1.08 [[ 0.89860264 -0.13152777 -0.4185854 10.37047579] [ 0.12625146 0.99117466 -0.04041493 0.01463947] [ 0.42020693 -0.01653006 0.90727774 1.07913463] [ 0. 0. 0. 1. ]] SLAMing on 143.26538475 meters Centerline goodness : 0.954443 Centerline is valid? [False, True] Translation: X:10.36, Y:0.02, Z:1.08 [[ 0.89912783 -0.13665696 -0.41580528 10.35873692] [ 0.12921973 0.9905426 -0.04612611 0.02087501] [ 0.4181763 -0.01225698 0.90828319 1.08217388] [ 0. 0. 0. 1. ]] SLAMing on 143.29538475 meters Centerline goodness : 0.956765 Centerline is valid? [True, True] Translation: X:10.39, Y:0.03, Z:1.09 [[ 8.99097324e-01 -1.43605411e-01 -4.13523262e-01 1.03862811e+01] [ 1.29660964e-01 9.89633184e-01 -6.17591705e-02 3.43470611e-02] [ 4.18105294e-01 1.90967999e-03 9.08396564e-01 1.08619359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32538475 meters Centerline goodness : 0.954871 Centerline is valid? [True, True] Translation: X:10.41, Y:0.04, Z:1.10 [[ 8.99028538e-01 -1.44090732e-01 -4.13503988e-01 1.04112744e+01] [ 1.30135917e-01 9.89562793e-01 -6.18879747e-02 4.27206841e-02] [ 4.18105645e-01 1.82733475e-03 9.08396571e-01 1.09669669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters Centerline goodness : 0.952090 Centerline is valid? [True, True] Translation: X:10.44, Y:0.05, Z:1.11 [[ 8.99253018e-01 -1.42738622e-01 -4.13484820e-01 1.04369314e+01] [ 1.28588904e-01 9.89757008e-01 -6.20157999e-02 5.29591233e-02] [ 4.18101548e-01 2.59833541e-03 9.08396579e-01 1.10525622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38538475000001 meters Centerline goodness : 0.953267 Centerline is valid? [True, True] Translation: X:10.46, Y:0.06, Z:1.12 [[ 8.99437188e-01 -1.41590792e-01 -4.13478891e-01 1.04606002e+01] [ 1.27307413e-01 9.89920179e-01 -6.20553080e-02 5.92711699e-02] [ 4.18097558e-01 3.17592366e-03 9.08396580e-01 1.11864505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters Centerline goodness : 0.948317 Centerline is valid? [True, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.00301770e-01 -1.35239413e-01 -4.13723366e-01 1.04601214e+01] [ 1.23149738e-01 9.90812751e-01 -5.58948554e-02 6.07618619e-02] [ 4.17481574e-01 -6.27686789e-04 9.08685172e-01 1.11811257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44538475000002 meters Centerline goodness : 0.942091 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.00451282e-01 -1.29471074e-01 -4.15240569e-01 1.04605747e+01] [ 1.18293608e-01 9.91581726e-01 -5.26526590e-02 5.94521860e-02] [ 4.18561957e-01 -1.70915082e-03 9.08186637e-01 1.12001213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters Centerline goodness : 0.939441 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.00480529e-01 -1.26920568e-01 -4.15963925e-01 1.04602476e+01] [ 1.15832452e-01 9.91911830e-01 -5.19014832e-02 5.93036560e-02] [ 4.19186904e-01 -1.44584643e-03 9.07898810e-01 1.12146169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50538475 meters Centerline goodness : 0.940744 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.00848011e-01 -1.22881467e-01 -4.16380842e-01 1.04592219e+01] [ 1.12720331e-01 9.92417443e-01 -4.90076005e-02 5.86432101e-02] [ 4.19245736e-01 -2.78618671e-03 9.07868520e-01 1.12231555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53538475 meters Centerline goodness : 0.938589 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.01353764e-01 -1.17537022e-01 -4.16829030e-01 1.04572842e+01] [ 1.08155237e-01 9.93062378e-01 -4.61471323e-02 6.04293496e-02] [ 4.19361225e-01 -3.48735124e-03 9.07812757e-01 1.12363464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56538475 meters Centerline goodness : 0.938589 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.12 [[ 9.01353764e-01 -1.17537022e-01 -4.16829030e-01 1.04572842e+01] [ 1.08155237e-01 9.93062378e-01 -4.61471323e-02 6.04293496e-02] [ 4.19361225e-01 -3.48735124e-03 9.07812757e-01 1.12363464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59538475 meters Centerline goodness : 0.938839 Centerline is valid? [False, False] Translation: X:10.46, Y:0.06, Z:1.13 [[ 9.06497089e-01 -1.01755474e-01 -4.09766826e-01 1.04593546e+01] [ 9.54412793e-02 9.94787735e-01 -3.58932328e-02 5.65553265e-02] [ 4.11283346e-01 -6.57155904e-03 9.11483858e-01 1.12785248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62538475 meters Centerline goodness : 0.942766 Centerline is valid? [False, False] Translation: X:10.46, Y:0.05, Z:1.13 [[ 9.06949755e-01 -9.50739718e-02 -4.10369445e-01 1.04568270e+01] [ 9.06061423e-02 9.95423569e-01 -3.03717878e-02 5.48443399e-02] [ 4.11378984e-01 -9.63630675e-03 9.11413448e-01 1.12994818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65538475 meters Centerline goodness : 0.949902 Centerline is valid? [False, False] Translation: X:10.45, Y:0.05, Z:1.13 [[ 0.9078881 -0.08684646 -0.41011815 10.45101844] [ 0.08436783 0.99614136 -0.02417548 0.05285229] [ 0.4106352 -0.01265215 0.91171193 1.13152741] [ 0. 0. 0. 1. ]] SLAMing on 143.68538475 meters Centerline goodness : 0.950438 Centerline is valid? [False, True] Translation: X:10.45, Y:0.05, Z:1.13 [[ 0.90808196 -0.08076254 -0.41093133 10.45000035] [ 0.08012011 0.99660757 -0.01881807 0.05068931] [ 0.41105707 -0.01583551 0.91147206 1.13372045] [ 0. 0. 0. 1. ]] SLAMing on 143.71538475 meters Centerline goodness : 0.953040 Centerline is valid? [True, True] Translation: X:10.48, Y:0.07, Z:1.13 [[ 0.90899499 -0.09147871 -0.4066445 10.4823127 ] [ 0.07631807 0.9956534 -0.05338408 0.06821001] [ 0.40976049 0.01749154 0.91202543 1.12679302] [ 0. 0. 0. 1. ]] SLAMing on 143.74538475 meters Centerline goodness : 0.955496 Centerline is valid? [True, True] Translation: X:10.51, Y:0.07, Z:1.14 [[ 0.90902688 -0.09118519 -0.40663915 10.50719832] [ 0.07597836 0.99567719 -0.05342485 0.07133841] [ 0.40975288 0.01766885 0.91202543 1.13875195] [ 0. 0. 0. 1. ]] SLAMing on 143.77538475 meters Centerline goodness : 0.953247 Centerline is valid? [True, True] Translation: X:10.53, Y:0.07, Z:1.15 [[ 0.90887411 -0.09271892 -0.40663381 10.53415677] [ 0.07764018 0.99554681 -0.05346549 0.07106958] [ 0.40978025 0.01702227 0.91202543 1.15067307] [ 0. 0. 0. 1. ]] SLAMing on 143.80538475 meters Centerline goodness : 0.948739 Centerline is valid? [True, False] Translation: X:10.54, Y:0.07, Z:1.16 [[ 0.9084475 -0.09106806 -0.40795801 10.53877698] [ 0.07856447 0.99578442 -0.04733933 0.06734894] [ 0.41054934 0.01095429 0.91177258 1.1571904 ] [ 0. 0. 0. 1. ]] SLAMing on 143.83538475 meters Centerline goodness : 0.950189 Centerline is valid? [False, True] Translation: X:10.54, Y:0.06, Z:1.16 [[ 9.06722118e-01 -9.00981986e-02 -4.11991887e-01 1.05379854e+01] [ 8.48784764e-02 9.95909204e-01 -3.09919534e-02 5.98351831e-02] [ 4.13098831e-01 -6.86815401e-03 9.10660301e-01 1.16376152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86538475 meters Centerline goodness : 0.947356 Centerline is valid? [True, False] Translation: X:10.54, Y:0.05, Z:1.17 [[ 0.90626534 -0.09129756 -0.41273222 10.54139898] [ 0.08797371 0.99575427 -0.0270936 0.05422707] [ 0.41345345 -0.01175559 0.91044937 1.17005603] [ 0. 0. 0. 1. ]] SLAMing on 143.89538475 meters Centerline goodness : 0.951999 Centerline is valid? [False, True] Translation: X:10.54, Y:0.05, Z:1.17 [[ 0.9060832 -0.09083054 -0.41323486 10.54168151] [ 0.08807017 0.99578092 -0.02576845 0.05078759] [ 0.41383195 -0.01304531 0.91025982 1.17177995] [ 0. 0. 0. 1. ]] SLAMing on 143.92538475 meters Centerline goodness : 0.952303 Centerline is valid? [True, True] Translation: X:10.57, Y:0.06, Z:1.17 [[ 9.06237217e-01 -1.02905850e-01 -4.10054257e-01 1.05727300e+01] [ 8.94158780e-02 9.94636134e-01 -5.19977062e-02 6.19992790e-02] [ 4.13205649e-01 1.04568952e-02 9.10577699e-01 1.16804129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95538475 meters Centerline goodness : 0.953997 Centerline is valid? [True, True] Translation: X:10.60, Y:0.06, Z:1.18 [[ 9.05970504e-01 -1.05247844e-01 -4.10049189e-01 1.05981313e+01] [ 9.19683348e-02 9.94401282e-01 -5.20376401e-02 6.05577157e-02] [ 4.13230289e-01 9.43302594e-03 9.10577699e-01 1.18088861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98538475 meters Centerline goodness : 0.953272 Centerline is valid? [True, True] Translation: X:10.62, Y:0.06, Z:1.19 [[ 9.05885288e-01 -1.06041075e-01 -4.10033091e-01 1.06249747e+01] [ 9.27817425e-02 9.94319086e-01 -5.21642021e-02 6.17113037e-02] [ 4.13235277e-01 9.21119853e-03 9.10577707e-01 1.19221470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01538475 meters Centerline goodness : 0.950330 Centerline is valid? [True, True] Translation: X:10.65, Y:0.06, Z:1.20 [[ 9.05811613e-01 -1.06723125e-01 -4.10018898e-01 1.06516666e+01] [ 9.34800031e-02 9.94247834e-01 -5.22755507e-02 6.05386398e-02] [ 4.13239411e-01 9.02323309e-03 9.10577712e-01 1.20175118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04538475 meters Centerline goodness : 0.945583 Centerline is valid? [True, False] Translation: X:10.65, Y:0.05, Z:1.21 [[ 9.04035496e-01 -1.01069293e-01 -4.15336996e-01 1.06460010e+01] [ 9.56326761e-02 9.94838261e-01 -3.39297161e-02 5.16003943e-02] [ 4.16622387e-01 -9.04612066e-03 9.09034628e-01 1.20843773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07538475 meters Centerline goodness : 0.947149 Centerline is valid? [False, False] Translation: X:10.65, Y:0.05, Z:1.21 [[ 0.90391808 -0.09530249 -0.41695268 10.64660095] [ 0.09251685 0.99534669 -0.02693678 0.0468402 ] [ 0.41757961 -0.0142265 0.90852896 1.21370841] [ 0. 0. 0. 1. ]] SLAMing on 144.10538475 meters Centerline goodness : 0.953184 Centerline is valid? [False, True] Translation: X:10.64, Y:0.04, Z:1.22 [[ 0.90415258 -0.08765555 -0.41812034 10.64302582] [ 0.08818195 0.99593985 -0.01810416 0.04115441] [ 0.41800964 -0.02050174 0.90821122 1.2209757 ] [ 0. 0. 0. 1. ]] SLAMing on 144.13538475000001 meters Centerline goodness : 0.954714 Centerline is valid? [True, True] Translation: X:10.68, Y:0.06, Z:1.21 [[ 9.04474823e-01 -1.01657881e-01 -4.14235405e-01 1.06762857e+01] [ 8.82906896e-02 9.94770470e-01 -5.13465328e-02 5.74098488e-02] [ 4.17288928e-01 9.86851657e-03 9.08720289e-01 1.21130678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16538475000002 meters Centerline goodness : 0.961355 Centerline is valid? [True, True] Translation: X:10.70, Y:0.06, Z:1.23 [[ 9.03840524e-01 -1.07169548e-01 -4.14230606e-01 1.06988354e+01] [ 9.43353091e-02 9.94213462e-01 -5.13852224e-02 6.11606389e-02] [ 4.17340576e-01 7.36747416e-03 9.08720289e-01 1.23134187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters Centerline goodness : 0.962986 Centerline is valid? [True, True] Translation: X:10.72, Y:0.07, Z:1.25 [[ 9.03469308e-01 -1.10309567e-01 -4.14216138e-01 1.07232307e+01] [ 9.77360858e-02 9.93878887e-01 -5.15016051e-02 6.70279372e-02] [ 4.17361794e-01 6.04625547e-03 9.08720296e-01 1.24637918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22538475000002 meters Centerline goodness : 0.960087 Centerline is valid? [True, True] Translation: X:10.75, Y:0.07, Z:1.26 [[ 9.03288939e-01 -1.11831099e-01 -4.14201519e-01 1.07492315e+01] [ 9.93561152e-02 9.93712155e-01 -5.16189374e-02 7.34324559e-02] [ 4.17369687e-01 5.47336140e-03 9.08720302e-01 1.25539494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters Centerline goodness : 0.942766 Centerline is valid? [True, False] Translation: X:10.76, Y:0.08, Z:1.26 [[ 0.89972917 -0.10460824 -0.42372696 10.75641069] [ 0.09994261 0.99443622 -0.0332878 0.07791214] [ 0.42485161 -0.01239837 0.9051781 1.26084537] [ 0. 0. 0. 1. ]] SLAMing on 144.28538475 meters Centerline goodness : 0.930566 Centerline is valid? [False, False] Translation: X:10.75, Y:0.08, Z:1.27 [[ 0.8965922 -0.09809319 -0.43185664 10.75414194] [ 0.10052774 0.99478472 -0.01724928 0.07959276] [ 0.43129643 -0.027948 0.9017773 1.26558617] [ 0. 0. 0. 1. ]] SLAMing on 144.31538475 meters Centerline goodness : 0.931114 Centerline is valid? [False, False] Translation: X:10.76, Y:0.08, Z:1.27 [[ 0.89643653 -0.09314465 -0.43327315 10.75511961] [ 0.09734823 0.99517152 -0.0125288 0.07864065] [ 0.43234809 -0.0309471 0.90117557 1.2683795 ] [ 0. 0. 0. 1. ]] SLAMing on 144.34538475 meters Centerline goodness : 0.934554 Centerline is valid? [False, False] Translation: X:10.75, Y:0.08, Z:1.27 [[ 8.96104192e-01 -8.69438404e-02 -4.35244811e-01 1.07535049e+01] [ 9.37601637e-02 9.95577703e-01 -5.83688330e-03 7.62139204e-02] [ 4.33827510e-01 -3.55781691e-02 9.00293222e-01 1.27497926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37538475 meters Centerline goodness : 0.933421 Centerline is valid? [False, False] Translation: X:10.75, Y:0.08, Z:1.28 [[ 8.96168019e-01 -8.60736981e-02 -4.35286342e-01 1.07514331e+01] [ 9.30635403e-02 9.95646171e-01 -5.28015491e-03 7.66230773e-02] [ 4.33845662e-01 -3.57773821e-02 9.00276580e-01 1.27595170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40538475 meters Centerline goodness : 0.936323 Centerline is valid? [False, False] Translation: X:10.75, Y:0.08, Z:1.28 [[ 8.96173299e-01 -8.03818820e-02 -4.36362430e-01 1.07509889e+01] [ 8.92140461e-02 9.96012445e-01 -2.52333311e-04 7.56450109e-02] [ 4.34642694e-01 -3.87035236e-02 8.99770952e-01 1.27853854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43538475 meters Centerline goodness : 0.934720 Centerline is valid? [False, False] Translation: X:10.75, Y:0.08, Z:1.28 [[ 8.96726037e-01 -7.37279818e-02 -4.36401877e-01 1.07480439e+01] [ 8.41675194e-02 9.96440978e-01 4.60498429e-03 7.68524718e-02] [ 4.34509197e-01 -4.08602728e-02 8.99740071e-01 1.27926642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46538475 meters Centerline goodness : 0.938730 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:1.28 [[ 8.97417826e-01 -6.60834449e-02 -4.36204337e-01 1.07432448e+01] [ 7.85479132e-02 9.96854204e-01 1.05793026e-02 7.56527505e-02] [ 4.34133011e-01 -4.37569952e-02 8.99785449e-01 1.28086188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49538475 meters Centerline goodness : 0.942020 Centerline is valid? [False, False] Translation: X:10.74, Y:0.07, Z:1.29 [[ 0.89718286 -0.05957071 -0.43762341 10.74196276] [ 0.07479941 0.99704279 0.01762749 0.07218029] [ 0.43527918 -0.04854906 0.89898555 1.28645274] [ 0. 0. 0. 1. ]] SLAMing on 144.52538475 meters Centerline goodness : 0.946413 Centerline is valid? [False, False] Translation: X:10.74, Y:0.07, Z:1.29 [[ 0.89754175 -0.05658619 -0.43728345 10.73634044] [ 0.07277101 0.99714142 0.0203314 0.06847864] [ 0.43488296 -0.05006984 0.89909389 1.28894913] [ 0. 0. 0. 1. ]] SLAMing on 144.55538475 meters Centerline goodness : 0.949395 Centerline is valid? [False, False] Translation: X:10.74, Y:0.06, Z:1.29 [[ 0.89735008 -0.05064094 -0.4384043 10.73555784] [ 0.06958039 0.99720459 0.0272319 0.06427709] [ 0.43579973 -0.05494089 0.89836523 1.29432579] [ 0. 0. 0. 1. ]] SLAMing on 144.58538475 meters Centerline goodness : 0.952037 Centerline is valid? [False, True] Translation: X:10.73, Y:0.06, Z:1.30 [[ 0.89750114 -0.04949994 -0.43822534 10.73369121] [ 0.06893749 0.99721249 0.02854585 0.06143796] [ 0.43559077 -0.05583009 0.89841176 1.29534725] [ 0. 0. 0. 1. ]] SLAMing on 144.61538475 meters Centerline goodness : 0.952011 Centerline is valid? [True, True] Translation: X:10.78, Y:0.09, Z:1.26 [[ 0.89858739 -0.08407974 -0.43066379 10.77848527] [ 0.06962518 0.99635687 -0.04924751 0.09371869] [ 0.43323555 0.01426815 0.90116779 1.25862305] [ 0. 0. 0. 1. ]] SLAMing on 144.64538475 meters Centerline goodness : 0.948210 Centerline is valid? [True, False] Translation: X:10.78, Y:0.09, Z:1.27 [[ 8.96348948e-01 -7.74622856e-02 -4.36529676e-01 1.07765086e+01] [ 7.14869091e-02 9.96986431e-01 -3.01276925e-02 8.74681237e-02] [ 4.37547923e-01 -4.20123183e-03 8.99185278e-01 1.26539894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67538475 meters Centerline goodness : 0.945488 Centerline is valid? [False, False] Translation: X:10.78, Y:0.08, Z:1.27 [[ 8.96175123e-01 -7.35852532e-02 -4.37556122e-01 1.07793918e+01] [ 6.93068670e-02 9.97262668e-01 -2.57629486e-02 8.46133009e-02] [ 4.38254158e-01 -7.23753032e-03 8.98821957e-01 1.26719673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70538475 meters Centerline goodness : 0.944054 Centerline is valid? [False, False] Translation: X:10.78, Y:0.08, Z:1.27 [[ 8.95919597e-01 -7.36109871e-02 -4.38074763e-01 1.07811677e+01] [ 6.97282305e-02 9.97253510e-01 -2.49681746e-02 8.12830462e-02] [ 4.38709527e-01 -8.17670108e-03 8.98591727e-01 1.26808020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73538475 meters Centerline goodness : 0.942050 Centerline is valid? [False, False] Translation: X:10.78, Y:0.08, Z:1.27 [[ 8.95758041e-01 -7.33298594e-02 -4.38452122e-01 1.07815761e+01] [ 6.97623532e-02 9.97268463e-01 -2.42657451e-02 7.90894904e-02] [ 4.39033878e-01 -8.85121555e-03 8.98426909e-01 1.26904920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76538475 meters Centerline goodness : 0.942353 Centerline is valid? [False, False] Translation: X:10.78, Y:0.07, Z:1.27 [[ 8.95392748e-01 -7.31002617e-02 -4.39235904e-01 1.07828869e+01] [ 7.01477956e-02 9.97272019e-01 -2.29740285e-02 7.49979707e-02] [ 4.39717084e-01 -1.02406519e-02 8.98077956e-01 1.27104203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79538475 meters Centerline goodness : 0.943622 Centerline is valid? [False, False] Translation: X:10.78, Y:0.07, Z:1.27 [[ 0.8952954 -0.07280029 -0.43948408 10.78342294] [ 0.07012522 0.99728791 -0.02234454 0.0733823 ] [ 0.43991885 -0.01081396 0.89797242 1.27159905] [ 0. 0. 0. 1. ]] SLAMing on 144.82538475 meters Centerline goodness : 0.944413 Centerline is valid? [False, False] Translation: X:10.78, Y:0.07, Z:1.28 [[ 0.89488346 -0.07234481 -0.44039735 10.78371392] [ 0.07077864 0.99729142 -0.02000516 0.06867968] [ 0.44065177 -0.01326844 0.89758006 1.27544439] [ 0. 0. 0. 1. ]] SLAMing on 144.85538475 meters Centerline goodness : 0.945417 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.28 [[ 0.89443275 -0.06769479 -0.44204918 10.78546112] [ 0.06938531 0.9975133 -0.01236504 0.06393084] [ 0.44178698 -0.01961202 0.89690559 1.28310643] [ 0. 0. 0. 1. ]] SLAMing on 144.88538475000001 meters Centerline goodness : 0.946920 Centerline is valid? [False, False] Translation: X:10.78, Y:0.06, Z:1.28 [[ 8.94471672e-01 -6.64225347e-02 -4.42163402e-01 1.07834998e+01] [ 6.87848953e-02 9.97574032e-01 -1.07092885e-02 6.12077907e-02] [ 4.41802066e-01 -2.08350081e-02 8.96870580e-01 1.28492249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91538475000002 meters Centerline goodness : 0.949189 Centerline is valid? [False, False] Translation: X:10.78, Y:0.06, Z:1.29 [[ 8.94314765e-01 -6.60469077e-02 -4.42536900e-01 1.07832598e+01] [ 6.87869491e-02 9.97582498e-01 -9.87500682e-03 5.96215109e-02] [ 4.42119280e-01 -2.16093988e-02 8.96695922e-01 1.28635534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94538475000002 meters Centerline goodness : 0.945652 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.29 [[ 8.94026641e-01 -6.68220921e-02 -4.43002452e-01 1.07858003e+01] [ 6.95114690e-02 9.97529160e-01 -1.01847751e-02 5.94136786e-02] [ 4.42588432e-01 -2.16882910e-02 8.96462547e-01 1.28636455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97538475000002 meters Centerline goodness : 0.942228 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.29 [[ 8.94104103e-01 -6.46599405e-02 -4.43166949e-01 1.07887664e+01] [ 6.84148903e-02 9.97628547e-01 -7.52891969e-03 5.88396153e-02] [ 4.42602819e-01 -2.35875802e-02 8.96407480e-01 1.28652917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00538475 meters Centerline goodness : 0.939763 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.29 [[ 8.93791024e-01 -6.08513463e-02 -4.44336269e-01 1.07926533e+01] [ 6.61870694e-02 9.97801054e-01 -3.51114469e-03 5.80111616e-02] [ 4.43572855e-01 -2.62710859e-02 8.95853198e-01 1.28800375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03538475 meters Centerline goodness : 0.941513 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.29 [[ 8.93678400e-01 -6.09399173e-02 -4.44550610e-01 1.07934116e+01] [ 6.63492810e-02 9.97790674e-01 -3.39750278e-03 5.76677337e-02] [ 4.43775496e-01 -2.64593384e-02 8.95747293e-01 1.28829131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06538475 meters Centerline goodness : 0.940669 Centerline is valid? [False, False] Translation: X:10.79, Y:0.06, Z:1.29 [[ 8.93660986e-01 -6.01703985e-02 -4.44690414e-01 1.07923497e+01] [ 6.59448624e-02 9.97820164e-01 -2.48911634e-03 5.58890954e-02] [ 4.43870833e-01 -2.71006220e-02 8.95680880e-01 1.28938227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09538475 meters Centerline goodness : 0.940422 Centerline is valid? [False, False] Translation: X:10.79, Y:0.05, Z:1.29 [[ 8.93464656e-01 -5.53225003e-02 -4.45713281e-01 1.07939883e+01] [ 6.29936376e-02 9.98011041e-01 2.40092152e-03 5.34166327e-02] [ 4.44693950e-01 -3.02222394e-02 8.95172557e-01 1.29171993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12538475 meters Centerline goodness : 0.936001 Centerline is valid? [False, False] Translation: X:10.79, Y:0.05, Z:1.29 [[ 8.93371419e-01 -5.52160790e-02 -4.45913323e-01 1.07945582e+01] [ 6.29870784e-02 9.98010925e-01 2.61173074e-03 5.29404397e-02] [ 4.44882158e-01 -3.04200230e-02 8.95072336e-01 1.29194506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15538475 meters Centerline goodness : 0.937787 Centerline is valid? [False, False] Translation: X:10.80, Y:0.05, Z:1.30 [[ 8.93194005e-01 -5.02244129e-02 -4.46857893e-01 1.07951229e+01] [ 6.00384764e-02 9.98165444e-01 7.81844485e-03 5.00812081e-02] [ 4.45645431e-01 -3.38120552e-02 8.94570788e-01 1.29500522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18538475 meters Centerline goodness : 0.936986 Centerline is valid? [False, False] Translation: X:10.80, Y:0.05, Z:1.30 [[ 0.89286958 -0.04513882 -0.44804731 10.79518764] [ 0.05759332 0.99823908 0.01420384 0.0464773 ] [ 0.44661719 -0.03848671 0.893897 1.30041143] [ 0. 0. 0. 1. ]] SLAMing on 145.21538475 meters Centerline goodness : 0.937581 Centerline is valid? [False, False] Translation: X:10.80, Y:0.05, Z:1.30 [[ 0.89275945 -0.04507173 -0.44827346 10.79502647] [ 0.05773877 0.99822462 0.01462305 0.04577293] [ 0.44681852 -0.03893762 0.89377686 1.30138766] [ 0. 0. 0. 1. ]] SLAMing on 145.24538475 meters Centerline goodness : 0.936399 Centerline is valid? [False, False] Translation: X:10.79, Y:0.05, Z:1.30 [[ 0.8927166 -0.04468891 -0.44839712 10.79457396] [ 0.05761562 0.99822281 0.01522073 0.0450011 ] [ 0.44692004 -0.03942247 0.89370484 1.30218449] [ 0. 0. 0. 1. ]] SLAMing on 145.27538475 meters Centerline goodness : 0.937372 Centerline is valid? [False, False] Translation: X:10.80, Y:0.04, Z:1.30 [[ 0.89258981 -0.04476481 -0.44864188 10.79508324] [ 0.0579542 0.99819573 0.01570359 0.04387616] [ 0.44712944 -0.04001754 0.89357365 1.30304352] [ 0. 0. 0. 1. ]] SLAMing on 145.30538475 meters Centerline goodness : 0.941036 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.30 [[ 0.89262638 -0.04425365 -0.44861984 10.79392776] [ 0.05781767 0.99818955 0.01657537 0.04218453] [ 0.44707412 -0.04073376 0.89356896 1.30412571] [ 0. 0. 0. 1. ]] SLAMing on 145.33538475 meters Centerline goodness : 0.940772 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.89261546 -0.04364732 -0.44870096 10.79296315] [ 0.05749819 0.99819599 0.01728365 0.04142979] [ 0.44713711 -0.04122715 0.89351482 1.30502586] [ 0. 0. 0. 1. ]] SLAMing on 145.36538475 meters Centerline goodness : 0.945381 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.89278339 -0.04289447 -0.4484394 10.79166576] [ 0.05692191 0.9982192 0.01784155 0.0410306 ] [ 0.44687551 -0.04145466 0.89363515 1.30508632] [ 0. 0. 0. 1. ]] SLAMing on 145.39538475 meters Centerline goodness : 0.948307 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.89277568 -0.0421866 -0.44852189 10.79050141] [ 0.05675549 0.99820572 0.01908271 0.03890724] [ 0.44691208 -0.04249266 0.89356811 1.3065904 ] [ 0. 0. 0. 1. ]] SLAMing on 145.42538475 meters Centerline goodness : 0.948728 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.8927059 -0.04192133 -0.44868561 10.79061328] [ 0.05677239 0.99819293 0.01969191 0.03780269] [ 0.44704929 -0.04305204 0.89347269 1.30732032] [ 0. 0. 0. 1. ]] SLAMing on 145.45538475 meters Centerline goodness : 0.943638 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.8923672 -0.04281252 -0.44927483 10.79380333] [ 0.05773377 0.99814042 0.01955777 0.03567278] [ 0.44760205 -0.04339104 0.8931795 1.30753875] [ 0. 0. 0. 1. ]] SLAMing on 145.48538475 meters Centerline goodness : 0.943638 Centerline is valid? [False, False] Translation: X:10.79, Y:0.04, Z:1.31 [[ 0.8923672 -0.04281252 -0.44927483 10.79380333] [ 0.05773377 0.99814042 0.01955777 0.03567278] [ 0.44760205 -0.04339104 0.8931795 1.30753875] [ 0. 0. 0. 1. ]] SLAMing on 145.51538475 meters Centerline goodness : 0.943282 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.8922025 -0.04290251 -0.44959324 10.79527819] [ 0.0581249 0.9981069 0.02010237 0.03298702] [ 0.44787967 -0.04406795 0.89300717 1.30813032] [ 0. 0. 0. 1. ]] SLAMing on 145.54538475 meters Centerline goodness : 0.944764 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89212509 -0.04261881 -0.4497738 10.79537362] [ 0.05809963 0.99809689 0.0206647 0.03179784] [ 0.44803712 -0.04456719 0.89290341 1.30880013] [ 0. 0. 0. 1. ]] SLAMing on 145.57538475 meters Centerline goodness : 0.944737 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89205014 -0.04223855 -0.44995829 10.79548984] [ 0.05809844 0.99807955 0.02148929 0.02924271] [ 0.44818648 -0.0453114 0.89279099 1.30969946] [ 0. 0. 0. 1. ]] SLAMing on 145.60538475 meters Centerline goodness : 0.945696 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89195753 -0.04174405 -0.45018795 10.79516939] [ 0.05796753 0.99806928 0.02230428 0.02767008] [ 0.44838769 -0.04599075 0.89265521 1.31082453] [ 0. 0. 0. 1. ]] SLAMing on 145.63538475000001 meters Centerline goodness : 0.943661 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89174717 -0.04154257 -0.45062313 10.79552527] [ 0.05806999 0.99804968 0.02290651 0.02568881] [ 0.44879268 -0.0465945 0.89242035 1.31201009] [ 0. 0. 0. 1. ]] SLAMing on 145.66538475000002 meters Centerline goodness : 0.941392 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89158982 -0.04182553 -0.45090822 10.7968065 ] [ 0.05841301 0.99802923 0.02292559 0.02503634] [ 0.44906071 -0.04677913 0.89227585 1.3122423 ] [ 0. 0. 0. 1. ]] SLAMing on 145.69538475000002 meters Centerline goodness : 0.941153 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89147049 -0.04249669 -0.45108137 10.79830454] [ 0.05901899 0.99800062 0.02261669 0.02502485] [ 0.44921836 -0.04678448 0.89219621 1.31215448] [ 0. 0. 0. 1. ]] SLAMing on 145.72538475000002 meters Centerline goodness : 0.942203 Centerline is valid? [False, False] Translation: X:10.80, Y:0.03, Z:1.31 [[ 0.89142332 -0.04233183 -0.45119008 10.79808708] [ 0.05895255 0.9979995 0.02283857 0.02555645] [ 0.44932067 -0.04695764 0.89213559 1.31258375] [ 0. 0. 0. 1. ]] SLAMing on 145.75538475 meters Centerline goodness : 0.948288 Centerline is valid? [False, False] Translation: X:10.80, Y:0.02, Z:1.31 [[ 0.89154985 -0.04130877 -0.45103486 10.79564584] [ 0.05858035 0.99798465 0.02439231 0.0235225 ] [ 0.44911825 -0.04816874 0.89217295 1.31442347] [ 0. 0. 0. 1. ]] SLAMing on 145.78538475 meters Centerline goodness : 0.949992 Centerline is valid? [False, False] Translation: X:10.79, Y:0.02, Z:1.32 [[ 0.89163982 -0.04024258 -0.45095339 10.79354594] [ 0.05802395 0.99798516 0.02566777 0.02199722] [ 0.44901186 -0.0490525 0.89217835 1.31581177] [ 0. 0. 0. 1. ]] SLAMing on 145.81538475 meters Centerline goodness : 0.956360 Centerline is valid? [False, True] Translation: X:10.79, Y:0.02, Z:1.32 [[ 0.89181576 -0.03817554 -0.45078519 10.78909791] [ 0.05695666 0.99797929 0.0281652 0.01896841] [ 0.44879906 -0.05079339 0.892188 1.3187814 ] [ 0. 0. 0. 1. ]] SLAMing on 145.84538475 meters Centerline goodness : 0.958507 Centerline is valid? [True, True] Translation: X:10.83, Y:0.04, Z:1.30 [[ 8.91811177e-01 -6.54963657e-02 -4.47641654e-01 1.08312022e+01] [ 5.81999786e-02 9.97852528e-01 -3.00515437e-02 4.24619953e-02] [ 4.48648623e-01 7.47567867e-04 8.93707925e-01 1.29691459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87538475 meters Centerline goodness : 0.957706 Centerline is valid? [True, True] Translation: X:10.86, Y:0.04, Z:1.31 [[ 8.91834154e-01 -6.52419458e-02 -4.47633032e-01 1.08570499e+01] [ 5.78510890e-02 9.97868954e-01 -3.01794871e-02 4.37234072e-02] [ 4.48648074e-01 1.01903898e-03 8.93707932e-01 1.30844700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90538475 meters Centerline goodness : 0.951721 Centerline is valid? [True, True] Translation: X:10.88, Y:0.05, Z:1.32 [[ 8.91851357e-01 -6.50273061e-02 -4.47629988e-01 1.08835557e+01] [ 5.75882996e-02 9.97882790e-01 -3.02245758e-02 4.61014311e-02] [ 4.48647684e-01 1.17757916e-03 8.93707933e-01 1.31945013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters Centerline goodness : 0.949739 Centerline is valid? [True, False] Translation: X:10.89, Y:0.04, Z:1.32 [[ 8.91373340e-01 -6.14184456e-02 -4.49089461e-01 1.08878540e+01] [ 5.56113756e-02 9.98110677e-01 -2.61237675e-02 4.41737265e-02] [ 4.49845467e-01 -1.68845282e-03 8.93104812e-01 1.32168060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96538475 meters Centerline goodness : 0.947634 Centerline is valid? [False, False] Translation: X:10.89, Y:0.04, Z:1.33 [[ 8.91005240e-01 -5.66405602e-02 -4.50445901e-01 1.08898900e+01] [ 5.29382830e-02 9.98380617e-01 -2.08250310e-02 4.09075198e-02] [ 4.50895998e-01 -5.29062088e-03 8.92560815e-01 1.32501818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99538475 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:10.89, Y:0.04, Z:1.33 [[ 8.90797593e-01 -5.64751081e-02 -4.50877156e-01 1.08904692e+01] [ 5.30894301e-02 9.98386136e-01 -2.01652007e-02 3.93804767e-02] [ 4.51288334e-01 -5.97369902e-03 8.92358199e-01 1.32616755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02538475 meters Centerline goodness : 0.944610 Centerline is valid? [False, False] Translation: X:10.89, Y:0.04, Z:1.33 [[ 8.90387696e-01 -5.15471170e-02 -4.52274966e-01 1.08921763e+01] [ 5.04247004e-02 9.98621940e-01 -1.45454640e-02 3.65078075e-02] [ 4.52401481e-01 -9.85472751e-03 8.91759937e-01 1.33015999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05538475 meters Centerline goodness : 0.942606 Centerline is valid? [False, False] Translation: X:10.90, Y:0.03, Z:1.33 [[ 8.89948088e-01 -4.74638909e-02 -4.53585250e-01 1.08953059e+01] [ 4.83339679e-02 9.98784307e-01 -9.68167970e-03 3.42865453e-02] [ 4.53493360e-01 -1.33073826e-02 8.91160303e-01 1.33336227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08538475 meters Centerline goodness : 0.944288 Centerline is valid? [False, False] Translation: X:10.90, Y:0.03, Z:1.33 [[ 8.89911838e-01 -4.73235379e-02 -4.53671030e-01 1.08954952e+01] [ 4.83226293e-02 9.98787572e-01 -9.39729763e-03 3.37986400e-02] [ 4.53565700e-01 -1.35598106e-02 8.91119682e-01 1.33364387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11538475 meters Centerline goodness : 0.943576 Centerline is valid? [False, False] Translation: X:10.90, Y:0.03, Z:1.34 [[ 8.89496034e-01 -4.22518518e-02 -4.54985260e-01 1.08969959e+01] [ 4.56382939e-02 9.98951744e-01 -3.54402604e-03 3.06735168e-02] [ 4.54658061e-01 -1.76123539e-02 8.90491916e-01 1.33789837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14538475 meters Centerline goodness : 0.946132 Centerline is valid? [False, False] Translation: X:10.89, Y:0.03, Z:1.34 [[ 8.89663164e-01 -4.11383859e-02 -4.54760474e-01 1.08944694e+01] [ 4.51145834e-02 9.98979590e-01 -2.11017665e-03 2.89279528e-02] [ 4.54383241e-01 -1.86389829e-02 8.90611284e-01 1.33937923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17538475 meters Centerline goodness : 0.950425 Centerline is valid? [False, True] Translation: X:10.89, Y:0.03, Z:1.34 [[ 8.89730817e-01 -4.00844481e-02 -4.54722234e-01 1.08923474e+01] [ 4.45488982e-02 9.99006802e-01 -8.97490112e-04 2.77519739e-02] [ 4.54306581e-01 -1.94588499e-02 8.90632856e-01 1.34078253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20538475 meters Centerline goodness : 0.955542 Centerline is valid? [True, True] Translation: X:10.92, Y:0.03, Z:1.34 [[ 8.89574167e-01 -5.23202940e-02 -4.53784517e-01 1.09222434e+01] [ 4.74158595e-02 9.98628772e-01 -2.21881243e-02 3.48975704e-02] [ 4.54323164e-01 -1.77860065e-03 8.90835170e-01 1.34348704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters Centerline goodness : 0.957485 Centerline is valid? [True, True] Translation: X:10.95, Y:0.04, Z:1.36 [[ 8.89558956e-01 -5.25971057e-02 -4.53782337e-01 1.09471234e+01] [ 4.77039019e-02 9.98614063e-01 -2.22326333e-02 3.70271022e-02] [ 4.54322795e-01 -1.86995005e-03 8.90835171e-01 1.35927861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26538475 meters Centerline goodness : 0.954163 Centerline is valid? [True, True] Translation: X:10.97, Y:0.04, Z:1.37 [[ 8.89527280e-01 -5.31826866e-02 -4.53776178e-01 1.09733453e+01] [ 4.82974771e-02 9.98582739e-01 -2.23576951e-02 4.00081647e-02] [ 4.54322101e-01 -2.02846484e-03 8.90835178e-01 1.36913489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters Centerline goodness : 0.950531 Centerline is valid? [True, True] Translation: X:11.00, Y:0.04, Z:1.38 [[ 8.89508973e-01 -5.35064608e-02 -4.53774002e-01 1.09995556e+01] [ 4.86384541e-02 9.98565201e-01 -2.24017868e-02 4.26306273e-02] [ 4.54321568e-01 -2.14427559e-03 8.90835178e-01 1.38200643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32538475 meters Centerline goodness : 0.944614 Centerline is valid? [True, False] Translation: X:11.00, Y:0.04, Z:1.38 [[ 8.89175980e-01 -4.95472921e-02 -4.54874865e-01 1.10035526e+01] [ 4.58397928e-02 9.98764576e-01 -1.91842598e-02 4.39903085e-02] [ 4.55263429e-01 -3.79318655e-03 8.90348708e-01 1.38239544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35538475 meters Centerline goodness : 0.941663 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.39 [[ 8.88904065e-01 -4.42330205e-02 -4.55952851e-01 1.10043710e+01] [ 4.24804744e-02 9.98997838e-01 -1.40971273e-02 4.20812615e-02] [ 4.56119471e-01 -6.83809966e-03 8.89892279e-01 1.38516291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38538475000001 meters Centerline goodness : 0.945291 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.39 [[ 8.88773236e-01 -3.69453207e-02 -4.56855753e-01 1.10011590e+01] [ 3.81049086e-02 9.99251428e-01 -6.67834759e-03 3.81290550e-02] [ 4.56760497e-01 -1.14729101e-02 8.89515723e-01 1.39074029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41538475000002 meters Centerline goodness : 0.948075 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.39 [[ 8.88588754e-01 -3.05532811e-02 -4.57686054e-01 1.09994877e+01] [ 3.41865784e-02 9.99415409e-01 -3.44364546e-04 3.51884795e-02] [ 4.57429016e-01 -1.53407217e-02 8.89113805e-01 1.39486415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44538475000002 meters Centerline goodness : 0.948035 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.40 [[ 8.88602682e-01 -2.47878817e-02 -4.58007461e-01 1.09982754e+01] [ 3.02198742e-02 9.99532987e-01 4.53520097e-03 3.55294110e-02] [ 4.57681147e-01 -1.78709196e-02 8.88936780e-01 1.39670942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters Centerline goodness : 0.948197 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.40 [[ 8.88328483e-01 -1.98811930e-02 -4.58777990e-01 1.09995258e+01] [ 2.70273565e-02 9.99594040e-01 9.01535956e-03 3.52448117e-02] [ 4.58412509e-01 -2.04081570e-02 8.88505194e-01 1.39855679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50538475 meters Centerline goodness : 0.947592 Centerline is valid? [False, False] Translation: X:11.00, Y:0.04, Z:1.40 [[ 0.8879926 -0.01542694 -0.45959891 11.0015128 ] [ 0.0241342 0.9996232 0.01307632 0.03534811] [ 0.459224 -0.02270373 0.88803032 1.40016747] [ 0. 0. 0. 1. ]] SLAMing on 146.53538475 meters Centerline goodness : 0.944110 Centerline is valid? [False, False] Translation: X:11.00, Y:0.03, Z:1.40 [[ 8.87741481e-01 -1.05190900e-02 -4.60222133e-01 1.10023115e+01] [ 2.08751344e-02 9.99630339e-01 1.74188084e-02 3.42843152e-02] [ 4.59868777e-01 -2.50705976e-02 8.87632904e-01 1.40188128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56538475 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:11.00, Y:0.03, Z:1.40 [[ 8.87819841e-01 -9.68996666e-03 -4.60089158e-01 1.10008204e+01] [ 2.03088305e-02 9.99629248e-01 1.81360687e-02 3.35884845e-02] [ 4.59742842e-01 -2.54454343e-02 8.87687473e-01 1.40244790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters Centerline goodness : 0.947264 Centerline is valid? [False, False] Translation: X:11.00, Y:0.03, Z:1.40 [[ 8.87852234e-01 -9.02727281e-03 -4.60040127e-01 1.09996057e+01] [ 1.99535336e-02 9.99622368e-01 1.88938423e-02 3.26625052e-02] [ 4.59695842e-01 -2.59543662e-02 8.87697079e-01 1.40326766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62538475 meters Centerline goodness : 0.949842 Centerline is valid? [False, False] Translation: X:11.00, Y:0.03, Z:1.41 [[ 8.87809232e-01 -8.89325146e-03 -4.60125719e-01 1.09987455e+01] [ 2.04847745e-02 9.99585973e-01 2.02053528e-02 2.94710308e-02] [ 4.59755524e-01 -2.73640703e-02 8.87623831e-01 1.40537812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters Centerline goodness : 0.950037 Centerline is valid? [False, True] Translation: X:11.00, Y:0.03, Z:1.41 [[ 8.87683298e-01 -9.00326286e-03 -4.60366488e-01 1.09997625e+01] [ 2.06957928e-02 9.99578542e-01 2.03573489e-02 2.91947795e-02] [ 4.59989181e-01 -2.75985281e-02 8.87495507e-01 1.40563202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68538475 meters Centerline goodness : 0.946966 Centerline is valid? [True, False] Translation: X:11.00, Y:0.03, Z:1.41 [[ 0.88749088 -0.01118778 -0.46068946 11.00264936] [ 0.02317106 0.99952408 0.02036438 0.02634645] [ 0.46024237 -0.02874787 0.88732774 1.4071632 ] [ 0. 0. 0. 1. ]] SLAMing on 146.71538475 meters Centerline goodness : 0.953278 Centerline is valid? [False, True] Translation: X:11.00, Y:0.02, Z:1.41 [[ 0.88739718 -0.01610678 -0.46072424 11.00108328] [ 0.02732999 0.99946977 0.01769891 0.02335993] [ 0.46019487 -0.02829755 0.88736685 1.40928122] [ 0. 0. 0. 1. ]] SLAMing on 146.74538475 meters Centerline goodness : 0.952609 Centerline is valid? [True, True] Translation: X:11.04, Y:0.03, Z:1.40 [[ 8.87108091e-01 -3.36025132e-02 -4.60336949e-01 1.10366264e+01] [ 3.29546649e-02 9.99412207e-01 -9.44615019e-03 3.48494355e-02] [ 4.60383781e-01 -6.79049366e-03 8.87694015e-01 1.40112643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters Centerline goodness : 0.951124 Centerline is valid? [True, True] Translation: X:11.06, Y:0.04, Z:1.41 [[ 8.87090475e-01 -3.40774947e-02 -4.60335979e-01 1.10626252e+01] [ 3.34653698e-02 9.99394791e-01 -9.49319641e-03 3.61365547e-02] [ 4.60380884e-01 -6.98398969e-03 8.87694016e-01 1.41114275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80538475 meters Centerline goodness : 0.950834 Centerline is valid? [True, True] Translation: X:11.09, Y:0.04, Z:1.43 [[ 8.87082998e-01 -3.42839591e-02 -4.60335058e-01 1.10876647e+01] [ 3.36748864e-02 9.99387330e-01 -9.53769443e-03 3.75036142e-02] [ 4.60380014e-01 -7.04100423e-03 8.87694017e-01 1.42674939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters Centerline goodness : 0.951739 Centerline is valid? [True, True] Translation: X:11.11, Y:0.04, Z:1.44 [[ 8.87077223e-01 -3.44688550e-02 -4.60332378e-01 1.11129695e+01] [ 3.38168697e-02 9.99381307e-01 -9.66552580e-03 3.83768154e-02] [ 4.60380733e-01 -6.99293224e-03 8.87694024e-01 1.43930777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86538475 meters Centerline goodness : 0.954092 Centerline is valid? [True, True] Translation: X:11.14, Y:0.04, Z:1.45 [[ 8.87126882e-01 -3.31794133e-02 -4.60331427e-01 1.11374521e+01] [ 3.23407975e-02 9.99429726e-01 -9.71061465e-03 3.92205677e-02] [ 4.60391104e-01 -6.27293815e-03 8.87694025e-01 1.45327423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters Centerline goodness : 0.952357 Centerline is valid? [True, True] Translation: X:11.16, Y:0.04, Z:1.47 [[ 8.87167360e-01 -3.21228343e-02 -4.60328360e-01 1.11622156e+01] [ 3.10760341e-02 9.99468447e-01 -9.85408803e-03 3.98535231e-02] [ 4.60400213e-01 -5.56295457e-03 8.87694034e-01 1.46808360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92538475 meters Centerline goodness : 0.948399 Centerline is valid? [True, False] Translation: X:11.16, Y:0.04, Z:1.47 [[ 8.86849250e-01 -2.67571176e-02 -4.61283497e-01 1.11626764e+01] [ 2.74908135e-02 9.99608892e-01 -5.13013224e-03 3.94897530e-02] [ 4.61240353e-01 -8.13140463e-03 8.87237971e-01 1.47053220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters Centerline goodness : 0.944550 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:1.47 [[ 8.86525965e-01 -2.24921054e-02 -4.62131820e-01 1.11654393e+01] [ 2.44411996e-02 9.99699704e-01 -1.76917723e-03 4.17649371e-02] [ 4.62032836e-01 -9.72663449e-03 8.86809479e-01 1.47112545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98538475 meters Centerline goodness : 0.944410 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:1.47 [[ 8.86240413e-01 -1.74098747e-02 -4.62898289e-01 1.11665615e+01] [ 2.11708807e-02 9.99771576e-01 2.93064834e-03 4.08518055e-02] [ 4.62741530e-01 -1.23972234e-02 8.86406557e-01 1.47313179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters Centerline goodness : 0.946655 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.86216070e-01 -1.14803922e-02 -4.63129871e-01 1.11648935e+01] [ 1.71530460e-02 9.99820560e-01 8.03872315e-03 4.09929916e-02] [ 4.62954479e-01 -1.50681336e-02 8.86253971e-01 1.47533859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04538475 meters Centerline goodness : 0.946450 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85962814e-01 -5.48901402e-03 -4.63723800e-01 1.11638411e+01] [ 1.32913379e-02 9.99819731e-01 1.35589474e-02 3.98696307e-02] [ 4.63565780e-01 -1.81762330e-02 8.85876059e-01 1.47832299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters Centerline goodness : 0.947246 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85865581e-01 6.37812254e-04 -4.63941555e-01 1.11620534e+01] [ 8.94782699e-03 9.99789565e-01 1.84597605e-02 4.05339954e-02] [ 4.63855699e-01 -2.05041352e-02 8.85673456e-01 1.48021228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10538475 meters Centerline goodness : 0.946410 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85518742e-01 6.20116768e-03 -4.64562271e-01 1.11618866e+01] [ 5.17045617e-03 9.99717468e-01 2.32002299e-02 3.96658033e-02] [ 4.64574886e-01 -2.29462373e-02 8.85236492e-01 1.48230671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters Centerline goodness : 0.945113 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85466950e-01 1.24186846e-02 -4.64536390e-01 1.11601036e+01] [ 5.03655236e-04 9.99616618e-01 2.76832857e-02 4.10198396e-02] [ 4.64702085e-01 -2.47466007e-02 8.85121222e-01 1.48321086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16538475000002 meters Centerline goodness : 0.944006 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85197464e-01 1.78349216e-02 -4.64873494e-01 1.11602193e+01] [-3.16722638e-03 9.99472750e-01 3.23139468e-02 4.03849010e-02] [ 4.65204706e-01 -2.71318642e-02 8.84787231e-01 1.48477959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters Centerline goodness : 0.945243 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85368507e-01 1.87447010e-02 -4.64511833e-01 1.11583199e+01] [-4.03105035e-03 9.99458768e-01 3.26484486e-02 4.15440121e-02] [ 4.64872410e-01 -2.70334376e-02 8.84964878e-01 1.48463207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22538475000002 meters Centerline goodness : 0.943077 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85286932e-01 1.87080316e-02 -4.64668761e-01 1.11585186e+01] [-4.02617192e-03 9.99461391e-01 3.25686578e-02 4.26406985e-02] [ 4.65027782e-01 -2.69617708e-02 8.84885431e-01 1.48481093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters Centerline goodness : 0.943203 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.48 [[ 8.85211589e-01 1.86763788e-02 -4.64813550e-01 1.11589095e+01] [-4.02202874e-03 9.99463673e-01 3.24990863e-02 4.35181853e-02] [ 4.65171223e-01 -2.68990744e-02 8.84811942e-01 1.48489095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28538475 meters Centerline goodness : 0.941843 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85156670e-01 1.87620494e-02 -4.64914676e-01 1.11590289e+01] [-4.02357950e-03 9.99457980e-01 3.26734830e-02 4.37436690e-02] [ 4.65275704e-01 -2.70505302e-02 8.84752388e-01 1.48520500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters Centerline goodness : 0.941880 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85029389e-01 1.89961399e-02 -4.65147425e-01 1.11585417e+01] [-3.83495198e-03 9.99430723e-01 3.35190087e-02 4.21284698e-02] [ 4.65519359e-01 -2.78814897e-02 8.84598411e-01 1.48668722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34538475 meters Centerline goodness : 0.944495 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85264730e-01 1.41820298e-02 -4.64871194e-01 1.11577098e+01] [-2.55103212e-04 9.99549629e-01 3.00079010e-02 4.05698684e-02] [ 4.65087403e-01 -2.64463463e-02 8.84869651e-01 1.48639901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters Centerline goodness : 0.944495 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85264730e-01 1.41820298e-02 -4.64871194e-01 1.11577098e+01] [-2.55103212e-04 9.99549629e-01 3.00079010e-02 4.05698684e-02] [ 4.65087403e-01 -2.64463463e-02 8.84869651e-01 1.48639901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40538475 meters Centerline goodness : 0.947017 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85165217e-01 1.45750033e-02 -4.65048501e-01 1.11574891e+01] [-2.39089290e-04 9.99523354e-01 3.08708073e-02 3.84982559e-02] [ 4.65276779e-01 -2.72145768e-02 8.84746792e-01 1.48747617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters Centerline goodness : 0.947215 Centerline is valid? [False, False] Translation: X:11.16, Y:0.04, Z:1.49 [[ 8.85271489e-01 1.57438751e-02 -4.64808047e-01 1.11556793e+01] [-7.78799010e-04 9.99475628e-01 3.23707195e-02 3.52886514e-02] [ 4.65073955e-01 -2.82948830e-02 8.84819539e-01 1.48853271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46538475 meters Centerline goodness : 0.946724 Centerline is valid? [False, False] Translation: X:11.16, Y:0.03, Z:1.49 [[ 8.85248680e-01 1.63162832e-02 -4.64831748e-01 1.11554593e+01] [-1.08110254e-03 9.99453994e-01 3.30234110e-02 3.38541609e-02] [ 4.65116767e-01 -2.87314002e-02 8.84782968e-01 1.48886811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters Centerline goodness : 0.949256 Centerline is valid? [False, False] Translation: X:11.15, Y:0.03, Z:1.49 [[ 8.85291177e-01 1.71466178e-02 -4.64720911e-01 1.11547541e+01] [-1.55737212e-03 9.99423727e-01 3.39085428e-02 3.19344400e-02] [ 4.65034522e-01 -2.92951904e-02 8.84807711e-01 1.48923525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52538475 meters Centerline goodness : 0.949092 Centerline is valid? [False, False] Translation: X:11.15, Y:0.03, Z:1.49 [[ 8.85306934e-01 1.79330034e-02 -4.64661211e-01 1.11543906e+01] [-1.69816398e-03 9.99374113e-01 3.53340942e-02 2.70309866e-02] [ 4.65004032e-01 -3.04924476e-02 8.84783285e-01 1.49015374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters Centerline goodness : 0.949876 Centerline is valid? [False, False] Translation: X:11.15, Y:0.02, Z:1.49 [[ 8.85149744e-01 1.84807673e-02 -4.64939128e-01 1.11537713e+01] [-1.73173772e-03 9.99334872e-01 3.64254737e-02 2.42746608e-02] [ 4.65303055e-01 -3.14368461e-02 8.84593009e-01 1.49175043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58538475 meters Centerline goodness : 0.950288 Centerline is valid? [False, True] Translation: X:11.15, Y:0.02, Z:1.49 [[ 8.85213177e-01 1.29154737e-02 -4.65006260e-01 1.11548659e+01] [ 2.43050955e-03 9.99472447e-01 3.23870461e-02 2.28861790e-02] [ 4.65179238e-01 -2.97996422e-02 8.84714789e-01 1.49119741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters Centerline goodness : 0.959053 Centerline is valid? [True, True] Translation: X:11.19, Y:0.03, Z:1.49 [[ 8.85133416e-01 -1.11536242e-02 -4.65203646e-01 1.11880283e+01] [ 1.21633443e-02 9.99925678e-01 -8.31061397e-04 3.23901373e-02] [ 4.65178340e-01 -4.92283190e-03 8.85203297e-01 1.48994396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64538475 meters Centerline goodness : 0.954655 Centerline is valid? [True, True] Translation: X:11.22, Y:0.03, Z:1.50 [[ 8.85122714e-01 -1.19831393e-02 -4.65203380e-01 1.12158164e+01] [ 1.30318675e-02 9.99914619e-01 -9.61545704e-04 3.46901257e-02] [ 4.65175183e-01 -5.21138284e-03 8.85203305e-01 1.49716930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters Centerline goodness : 0.945363 Centerline is valid? [True, False] Translation: X:11.21, Y:0.03, Z:1.50 [[ 8.82526878e-01 -3.99294211e-03 -4.70245007e-01 1.12131850e+01] [ 1.37865496e-02 9.99753822e-01 1.73846428e-02 3.34065831e-02] [ 4.70059827e-01 -2.18254707e-02 8.82364668e-01 1.50208317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70538475 meters Centerline goodness : 0.946470 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.50 [[ 8.82411201e-01 -3.84007214e-03 -4.70463310e-01 1.12130162e+01] [ 1.37433306e-02 9.99750350e-01 1.76170070e-02 3.38233855e-02] [ 4.70278209e-01 -2.20111771e-02 8.82243682e-01 1.50279171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters Centerline goodness : 0.942008 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.50 [[ 8.82030928e-01 9.99650183e-04 -4.71190452e-01 1.12141400e+01] [ 1.06158116e-02 9.99701765e-01 2.19928612e-02 3.32992441e-02] [ 4.71071912e-01 -2.44004528e-02 8.81757263e-01 1.50482334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76538475 meters Centerline goodness : 0.941972 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.51 [[ 8.82025443e-01 1.48145934e-03 -4.71199451e-01 1.12133346e+01] [ 1.02213152e-02 9.99699605e-01 2.22760751e-02 3.37244059e-02] [ 4.71090907e-01 -2.44643431e-02 8.81745345e-01 1.50518347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters Centerline goodness : 0.944317 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.82157875e-01 2.07388829e-03 -4.70949236e-01 1.12116961e+01] [ 9.53418369e-03 9.99706724e-01 2.22612853e-02 3.55377042e-02] [ 4.70857285e-01 -2.41280846e-02 8.81879387e-01 1.50501147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82538475 meters Centerline goodness : 0.945618 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.82042105e-01 7.32787870e-03 -4.71113603e-01 1.12115725e+01] [ 5.94505127e-03 9.99626369e-01 2.66791836e-02 3.62842141e-02] [ 4.71133082e-01 -2.63329578e-02 8.81668982e-01 1.50628818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters Centerline goodness : 0.948947 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.82149377e-01 8.07538789e-03 -4.70900483e-01 1.12099031e+01] [ 5.35505350e-03 9.99616375e-01 2.71739944e-02 3.64995961e-02] [ 4.70939274e-01 -2.64932195e-02 8.81767719e-01 1.50661649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88538475000001 meters Centerline goodness : 0.949287 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.81822416e-01 1.40298427e-02 -4.71372879e-01 1.12088440e+01] [ 1.44354023e-03 9.99472363e-01 3.24485919e-02 3.52174237e-02] [ 4.71579414e-01 -2.92943414e-02 8.81336881e-01 1.50930197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters Centerline goodness : 0.949141 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.51 [[ 8.81418422e-01 1.90472146e-02 -4.71952083e-01 1.12099291e+01] [-1.85836200e-03 9.99318704e-01 3.68601898e-02 3.44681455e-02] [ 4.72332628e-01 -3.16121925e-02 8.80853312e-01 1.51095068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94538475000002 meters Centerline goodness : 0.948327 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.81382985e-01 1.90571502e-02 -4.72017858e-01 1.12102413e+01] [-2.02494744e-03 9.99329204e-01 3.65655922e-02 3.58999764e-02] [ 4.72398066e-01 -3.12724795e-02 8.80830347e-01 1.51062457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters Centerline goodness : 0.946416 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.81116604e-01 2.46043678e-02 -4.72258567e-01 1.12099648e+01] [-5.95129067e-03 9.99143428e-01 4.09511075e-02 3.55969263e-02] [ 4.72861620e-01 -3.32721528e-02 8.80508292e-01 1.51186795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00538475 meters Centerline goodness : 0.943886 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.80805642e-01 3.02241821e-02 -4.72512348e-01 1.12099069e+01] [-9.95920697e-03 9.98922374e-01 4.53310608e-02 3.60036054e-02] [ 4.73373251e-01 -3.52220059e-02 8.80157472e-01 1.51301624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters Centerline goodness : 0.945485 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.80872669e-01 3.04543163e-02 -4.72372603e-01 1.12095964e+01] [-1.02892180e-02 9.98924314e-01 4.52144472e-02 3.71537692e-02] [ 4.73241453e-01 -3.49678261e-02 8.80238478e-01 1.51261571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06538475 meters Centerline goodness : 0.943435 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 8.80920168e-01 3.10465271e-02 -4.72245457e-01 1.12086360e+01] [-1.09883278e-02 9.98918708e-01 4.51737901e-02 3.87772888e-02] [ 4.73137311e-01 -3.46053148e-02 8.80308785e-01 1.51231099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters Centerline goodness : 0.943958 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 0.88089651 0.03127926 -0.47227423 11.20853446] [-0.0113397 0.99892223 0.04500871 0.04015918] [ 0.47317306 -0.03429257 0.88030181 1.51206847] [ 0. 0. 0. 1. ]] SLAMing on 148.12538475 meters Centerline goodness : 0.943476 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 0.88066524 0.03669544 -0.47231577 11.20844439] [-0.01528538 0.99867743 0.04908921 0.04139236] [ 0.47349245 -0.03601164 0.8800614 1.51270372] [ 0. 0. 0. 1. ]] SLAMing on 148.15538475 meters Centerline goodness : 0.944383 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:1.51 [[ 0.88081265 0.03721273 -0.47200031 11.20733823] [-0.01589385 0.9986686 0.04907557 0.04276566] [ 0.47319813 -0.03572448 0.88023139 1.51221013] [ 0. 0. 0. 1. ]] SLAMing on 148.18538475 meters Centerline goodness : 0.946940 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:1.51 [[ 0.88079599 0.03804632 -0.47196494 11.20491085] [-0.01622045 0.99860599 0.05022911 0.04161697] [ 0.47321805 -0.03658612 0.88018528 1.51400802] [ 0. 0. 0. 1. ]] SLAMing on 148.21538475 meters Centerline goodness : 0.950226 Centerline is valid? [False, True] Translation: X:11.20, Y:0.04, Z:1.51 [[ 0.88075552 0.03836304 -0.47201481 11.2041792 ] [-0.01635135 0.99858265 0.05064909 0.04145884] [ 0.47328885 -0.03689139 0.88013447 1.51469167] [ 0. 0. 0. 1. ]] SLAMing on 148.24538475 meters Centerline goodness : 0.949062 Centerline is valid? [True, False] Translation: X:11.20, Y:0.04, Z:1.51 [[ 0.88071188 0.03860771 -0.4720763 11.20427149] [-0.01650909 0.99856902 0.05086617 0.04162337] [ 0.4733646 -0.03700489 0.88008897 1.51481036] [ 0. 0. 0. 1. ]] SLAMing on 148.27538475 meters Centerline goodness : 0.949424 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:1.51 [[ 0.8807264 0.03889567 -0.47202557 11.20394385] [-0.01674655 0.99855639 0.05103619 0.04148496] [ 0.47332923 -0.03704412 0.88010634 1.51481552] [ 0. 0. 0. 1. ]] SLAMing on 148.30538475 meters Centerline goodness : 0.947766 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:1.52 [[ 0.88069775 0.0393449 -0.47204179 11.20343305] [-0.01693726 0.99852279 0.05162715 0.04013858] [ 0.47337575 -0.03747282 0.88006317 1.51536268] [ 0. 0. 0. 1. ]] SLAMing on 148.33538475 meters Centerline goodness : 0.949306 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:1.52 [[ 0.88058996 0.03942303 -0.47223633 11.20386694] [-0.01659715 0.99848792 0.05240625 0.03740708] [ 0.47358828 -0.03831064 0.87991274 1.51634798] [ 0. 0. 0. 1. ]] SLAMing on 148.36538475 meters Centerline goodness : 0.949168 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:1.52 [[ 0.88082487 0.03420075 -0.47220532 11.20426233] [-0.01285311 0.9987472 0.04836151 0.03627944] [ 0.47326774 -0.03652871 0.88016095 1.51542626] [ 0. 0. 0. 1. ]] SLAMing on 148.39538475 meters Centerline goodness : 0.948372 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.52 [[ 0.88062201 0.03409712 -0.47259101 11.2051114 ] [-0.01248549 0.9987309 0.0487924 0.03456732] [ 0.47365492 -0.03706713 0.87993013 1.51632904] [ 0. 0. 0. 1. ]] SLAMing on 148.42538475 meters Centerline goodness : 0.948997 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.52 [[ 0.88045053 0.03312402 -0.47297956 11.20784484] [-0.01143741 0.99875019 0.04865442 0.03301198] [ 0.47400005 -0.03742815 0.87972899 1.51646749] [ 0. 0. 0. 1. ]] SLAMing on 148.45538475 meters Centerline goodness : 0.945421 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.52 [[ 8.80293544e-01 3.27597543e-02 -4.73297026e-01 1.12093407e+01] [-1.10815228e-02 9.98760758e-01 4.85195613e-02 3.25627529e-02] [ 4.74299985e-01 -3.74666048e-02 8.79565675e-01 1.51649678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48538475 meters Centerline goodness : 0.944779 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.52 [[ 8.80051385e-01 3.21487386e-02 -4.73789001e-01 1.12116881e+01] [-1.02406317e-02 9.98758582e-01 4.87485914e-02 2.94498846e-02] [ 4.74768037e-01 -3.80493667e-02 8.79288097e-01 1.51711427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters Centerline goodness : 0.944780 Centerline is valid? [False, False] Translation: X:11.21, Y:0.03, Z:1.52 [[ 8.79982874e-01 3.24165826e-02 -4.73897991e-01 1.12117781e+01] [-1.02191782e-02 9.98729700e-01 4.93412134e-02 2.76558891e-02] [ 4.74895472e-01 -3.85765748e-02 8.79196303e-01 1.51772562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54538475 meters Centerline goodness : 0.946161 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79957074e-01 3.28994400e-02 -4.73912624e-01 1.12113182e+01] [-1.01950361e-02 9.98677126e-01 5.03990036e-02 2.42242531e-02] [ 4.74943796e-01 -3.95174034e-02 8.79128412e-01 1.51874870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters Centerline goodness : 0.946282 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79932782e-01 3.35554744e-02 -4.73911732e-01 1.12103381e+01] [-1.04911239e-02 9.98631821e-01 5.12291192e-02 2.27080597e-02] [ 4.74982353e-01 -4.01063147e-02 8.79080911e-01 1.51962235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60538475 meters Centerline goodness : 0.949528 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.80016005e-01 3.47163368e-02 -4.73673524e-01 1.12078923e+01] [-1.11317758e-02 9.98558623e-01 5.25048486e-02 2.08004618e-02] [ 4.74813558e-01 -4.09322796e-02 8.79134025e-01 1.52086683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters Centerline goodness : 0.952948 Centerline is valid? [False, True] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.88003528 0.0350196 -0.47361539 11.20747034] [-0.01133198 0.99854202 0.052777 0.02060931] [ 0.4747731 -0.04107862 0.87914905 1.52101419] [ 0. 0. 0. 1. ]] SLAMing on 148.66538475000002 meters Centerline goodness : 0.949113 Centerline is valid? [True, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79946230e-01 3.46169636e-02 -4.73810404e-01 1.12088923e+01] [-1.10261632e-02 9.98561195e-01 5.24782182e-02 2.08123429e-02] [ 4.74945320e-01 -4.09536994e-02 8.79061851e-01 1.52072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters Centerline goodness : 0.947349 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79725390e-01 3.36815347e-02 -4.74287669e-01 1.12116158e+01] [-1.02062954e-02 9.98595747e-01 5.19842739e-02 2.03361758e-02] [ 4.75372559e-01 -4.08911655e-02 8.78833797e-01 1.52056165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72538475000002 meters Centerline goodness : 0.946517 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79651556e-01 3.37016494e-02 -4.74423164e-01 1.12122475e+01] [-1.01955767e-02 9.98593316e-01 5.20330558e-02 2.00786980e-02] [ 4.75509400e-01 -4.09339408e-02 8.78757773e-01 1.52053804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters Centerline goodness : 0.947420 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79619987e-01 3.38836820e-02 -4.74468729e-01 1.12123692e+01] [-1.02447621e-02 9.98577843e-01 5.23195631e-02 1.99248675e-02] [ 4.75566739e-01 -4.11605142e-02 8.78716159e-01 1.52080040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78538475 meters Centerline goodness : 0.946331 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79722120e-01 3.44014775e-02 -4.74242059e-01 1.12112721e+01] [-1.06065328e-02 9.98550913e-01 5.27596081e-02 2.01044479e-02] [ 4.75369849e-01 -4.13837304e-02 8.78812206e-01 1.52102129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters Centerline goodness : 0.947965 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79796706e-01 3.47093757e-02 -4.74081232e-01 1.12101517e+01] [-1.07682008e-02 9.98529926e-01 5.31228005e-02 2.05904030e-02] [ 4.75228157e-01 -4.16322630e-02 8.78877098e-01 1.52148731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84538475 meters Centerline goodness : 0.948211 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79757355e-01 3.49522664e-02 -4.74136410e-01 1.12095953e+01] [-1.08257429e-02 9.98508058e-01 5.35206582e-02 2.05885993e-02] [ 4.75299695e-01 -4.19523138e-02 8.78823193e-01 1.52217634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters Centerline goodness : 0.948736 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79716812e-01 3.54380546e-02 -4.74175574e-01 1.12087104e+01] [-1.10911136e-02 9.98476878e-01 5.40454643e-02 2.00212015e-02] [ 4.75368612e-01 -4.22855684e-02 8.78769943e-01 1.52287013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90538475 meters Centerline goodness : 0.946182 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79677008e-01 3.54232437e-02 -4.74250519e-01 1.12092483e+01] [-1.11378826e-02 9.98483119e-01 5.39203871e-02 1.95485688e-02] [ 4.75441172e-01 -4.21503783e-02 8.78737183e-01 1.52259992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters Centerline goodness : 0.946015 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79610135e-01 3.53087623e-02 -4.74383074e-01 1.12097754e+01] [-1.09830864e-02 9.98483075e-01 5.39529523e-02 1.91023498e-02] [ 4.75568483e-01 -4.22473734e-02 8.78663632e-01 1.52277419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96538475 meters Centerline goodness : 0.947141 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.8798151 0.03557878 -0.47398263 11.20923644] [-0.01129485 0.99847795 0.05398349 0.0189595 ] [ 0.47518187 -0.04214193 0.87887783 1.52208604] [ 0. 0. 0. 1. ]] SLAMing on 148.99538475 meters Centerline goodness : 0.947569 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87983104 0.03583287 -0.47393391 11.20880326] [-0.01146824 0.99846418 0.05420107 0.0188932 ] [ 0.47514821 -0.0422526 0.87889072 1.52225731] [ 0. 0. 0. 1. ]] SLAMing on 149.02538475 meters Centerline goodness : 0.949545 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87989046 0.03635108 -0.4737841 11.2072105 ] [-0.01175725 0.9984298 0.05476946 0.01886116] [ 0.4750311 -0.04262073 0.87893625 1.52307371] [ 0. 0. 0. 1. ]] SLAMing on 149.05538475 meters Centerline goodness : 0.946142 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79719013e-01 3.53508436e-02 -4.74178000e-01 1.12099164e+01] [-1.11336366e-02 9.98490543e-01 5.37836239e-02 2.09523388e-02] [ 4.75363545e-01 -4.20351510e-02 8.78784698e-01 1.52226617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08538475 meters Centerline goodness : 0.946142 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79719013e-01 3.53508436e-02 -4.74178000e-01 1.12099164e+01] [-1.11336366e-02 9.98490543e-01 5.37836239e-02 2.09523388e-02] [ 4.75363545e-01 -4.20351510e-02 8.78784698e-01 1.52226617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters Centerline goodness : 0.940608 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79595980e-01 3.48062879e-02 -4.74446450e-01 1.12119516e+01] [-1.07923852e-02 9.98523152e-01 5.32450936e-02 2.12292314e-02] [ 4.75599029e-01 -4.17137614e-02 8.78672593e-01 1.52162917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14538475 meters Centerline goodness : 0.942068 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79563458e-01 3.55443517e-02 -4.74452023e-01 1.12108036e+01] [-1.10678844e-02 9.98464229e-01 5.42833750e-02 1.93662376e-02] [ 4.75652841e-01 -4.24944929e-02 8.78606051e-01 1.52279752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters Centerline goodness : 0.943078 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.8796478 0.03607423 -0.47425563 11.20964493] [-0.01135314 0.99842799 0.05488759 0.01858964] [ 0.47549012 -0.04289745 0.87867454 1.52325369] [ 0. 0. 0. 1. ]] SLAMing on 149.20538475 meters Centerline goodness : 0.944679 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87979281 0.03624899 -0.47397323 11.20911234] [-0.01146619 0.99841642 0.05507424 0.01868302] [ 0.47521905 -0.04301925 0.87881523 1.52308485] [ 0. 0. 0. 1. ]] SLAMing on 149.23538475 meters Centerline goodness : 0.945961 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87974186 0.03623715 -0.47406869 11.20951926] [-0.01145196 0.99841705 0.0550659 0.01906606] [ 0.47531369 -0.04301476 0.87876426 1.52309685] [ 0. 0. 0. 1. ]] SLAMing on 149.26538475 meters Centerline goodness : 0.943630 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87976805 0.03602764 -0.47403606 11.21006903] [-0.01142652 0.99843873 0.05467666 0.01961338] [ 0.47526583 -0.0426862 0.87880616 1.52250624] [ 0. 0. 0. 1. ]] SLAMing on 149.29538475 meters Centerline goodness : 0.943630 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 0.87976805 0.03602764 -0.47403606 11.21006903] [-0.01142652 0.99843873 0.05467666 0.01961338] [ 0.47526583 -0.0426862 0.87880616 1.52250624] [ 0. 0. 0. 1. ]] SLAMing on 149.32538475 meters Centerline goodness : 0.941452 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79556663e-01 3.57544873e-02 -4.74448831e-01 1.12112618e+01] [-1.11980761e-02 9.98451859e-01 5.44838351e-02 1.90110268e-02] [ 4.75662359e-01 -4.26087061e-02 8.78595367e-01 1.52269528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters Centerline goodness : 0.937625 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.79966424e-01 3.11749200e-02 -4.74011833e-01 1.12096694e+01] [-8.19730357e-03 9.98692211e-01 5.04645585e-02 1.94102834e-02] [ 4.74965154e-01 -4.05214982e-02 8.79071164e-01 1.52148647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38538475000001 meters Centerline goodness : 0.941951 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.80058374e-01 3.14346133e-02 -4.73823938e-01 1.12091179e+01] [-8.34793964e-03 9.98676523e-01 5.07495174e-02 1.91387695e-02] [ 4.74792135e-01 -4.07070841e-02 8.79156051e-01 1.52152752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters Centerline goodness : 0.949318 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.80461442e-01 2.63357993e-02 -4.73385758e-01 1.12078488e+01] [-4.63727406e-03 9.98886668e-01 4.69459368e-02 1.93242800e-02] [ 4.74095081e-01 -3.91388677e-02 8.79603322e-01 1.52100893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44538475000002 meters Centerline goodness : 0.948140 Centerline is valid? [False, False] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.80438509e-01 2.62531948e-02 -4.73432995e-01 1.12085119e+01] [-4.56935631e-03 9.98889437e-01 4.68936512e-02 1.97716925e-02] [ 4.74138326e-01 -3.91236923e-02 8.79580687e-01 1.52083216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters Centerline goodness : 0.954460 Centerline is valid? [False, True] Translation: X:11.21, Y:0.02, Z:1.52 [[ 8.80696062e-01 2.12275884e-02 -4.73205912e-01 1.12067697e+01] [-7.43144222e-04 9.99056037e-01 4.34336631e-02 1.94362130e-02] [ 4.73681215e-01 -3.79001958e-02 8.79880493e-01 1.52139013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50538475 meters Centerline goodness : 0.952293 Centerline is valid? [True, True] Translation: X:11.24, Y:0.03, Z:1.51 [[ 8.80510933e-01 2.63205528e-03 -4.74018532e-01 1.12437079e+01] [ 3.11940706e-04 9.99981151e-01 6.13198151e-03 3.25067514e-02] [ 4.74025737e-01 -5.54714244e-03 8.80493515e-01 1.51237420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters Centerline goodness : 0.948412 Centerline is valid? [True, False] Translation: X:11.24, Y:0.03, Z:1.52 [[ 8.77911200e-01 8.49323579e-03 -4.78748149e-01 1.12358631e+01] [ 1.86728988e-03 9.99774344e-01 2.11606749e-02 3.11017382e-02] [ 4.78819839e-01 -1.94711551e-02 8.77697235e-01 1.51575716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56538475 meters Centerline goodness : 0.945065 Centerline is valid? [False, False] Translation: X:11.24, Y:0.03, Z:1.52 [[ 8.77926446e-01 8.73856456e-03 -4.78715775e-01 1.12359811e+01] [ 1.57741200e-03 9.99775219e-01 2.11429256e-02 3.15536566e-02] [ 4.78792928e-01 -1.93170655e-02 8.77715320e-01 1.51544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters Centerline goodness : 0.944508 Centerline is valid? [False, False] Translation: X:11.24, Y:0.03, Z:1.52 [[ 8.77650322e-01 1.43530239e-02 -4.79086530e-01 1.12358796e+01] [-2.09575253e-03 9.99656889e-01 2.61096077e-02 2.99438441e-02] [ 4.79296902e-01 -2.19110588e-02 8.77379271e-01 1.51740986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62538475 meters Centerline goodness : 0.947360 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.77950525e-01 1.56418780e-02 -4.78495775e-01 1.12329496e+01] [-3.30285455e-03 9.99640227e-01 2.66178058e-02 3.09082442e-02] [ 4.78739978e-01 -2.17887147e-02 8.77686325e-01 1.51715432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters Centerline goodness : 0.947910 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.77978181e-01 1.58499666e-02 -4.78438180e-01 1.12326814e+01] [-3.57326488e-03 9.99640851e-01 2.65593884e-02 3.17850805e-02] [ 4.78687315e-01 -2.16089772e-02 8.77719492e-01 1.51696126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68538475 meters Centerline goodness : 0.943161 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.77940906e-01 1.57674329e-02 -4.78509304e-01 1.12331595e+01] [-3.64857340e-03 9.99648872e-01 2.62453928e-02 3.30591589e-02] [ 4.78755108e-01 -2.12960276e-02 8.77690165e-01 1.51665655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters Centerline goodness : 0.947156 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.78125167e-01 1.65726562e-02 -4.78143846e-01 1.12314755e+01] [-4.42407164e-03 9.99638416e-01 2.65229287e-02 3.38244905e-02] [ 4.78410512e-01 -2.11751086e-02 8.77880969e-01 1.51640417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74538475 meters Centerline goodness : 0.946782 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.78204302e-01 1.73501801e-02 -4.77970893e-01 1.12299344e+01] [-4.92597152e-03 9.99616922e-01 2.72349728e-02 3.34420928e-02] [ 4.78260325e-01 -2.15633993e-02 8.77953348e-01 1.51697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters Centerline goodness : 0.946796 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.78182693e-01 1.79511490e-02 -4.77988403e-01 1.12288986e+01] [-5.34250811e-03 9.99601308e-01 2.77251368e-02 3.32871035e-02] [ 4.78295531e-01 -2.17940784e-02 8.77928473e-01 1.51752967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80538475 meters Centerline goodness : 0.943327 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.78038380e-01 1.77485764e-02 -4.78261008e-01 1.12301570e+01] [-5.22003877e-03 9.99607826e-01 2.75126369e-02 3.38671899e-02] [ 4.78561756e-01 -2.16606101e-02 8.77786684e-01 1.51742335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters Centerline goodness : 0.937702 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.77555715e-01 2.16958580e-02 -4.78983567e-01 1.12339330e+01] [-7.94838931e-03 9.99496720e-01 3.07104157e-02 3.45344006e-02] [ 4.79408793e-01 -2.31429529e-02 8.77286506e-01 1.51769577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86538475 meters Centerline goodness : 0.940468 Centerline is valid? [False, False] Translation: X:11.24, Y:0.03, Z:1.52 [[ 8.77093169e-01 2.66539364e-02 -4.79580171e-01 1.12351092e+01] [-1.11977900e-02 9.99322452e-01 3.50606071e-02 3.39440180e-02] [ 4.80189736e-01 -2.53811810e-02 8.76797361e-01 1.51943333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters Centerline goodness : 0.944375 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 8.77223482e-01 2.70519420e-02 -4.79319471e-01 1.12330818e+01] [-1.12260354e-02 9.99294015e-01 3.58531271e-02 3.44340479e-02] [ 4.79950976e-01 -2.60703477e-02 8.76907862e-01 1.52069454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92538475 meters Centerline goodness : 0.948064 Centerline is valid? [False, False] Translation: X:11.23, Y:0.03, Z:1.52 [[ 0.8773132 0.02755607 -0.4791265 11.23167111] [-0.01154598 0.99927315 0.03632986 0.03479897] [ 0.47977936 -0.02634069 0.87699369 1.52122967] [ 0. 0. 0. 1. ]] SLAMing on 149.95538475 meters Centerline goodness : 0.953133 Centerline is valid? [False, True] Translation: X:11.23, Y:0.04, Z:1.52 [[ 0.87751359 0.02891509 -0.47867924 11.22801261] [-0.01260648 0.99922649 0.03724908 0.03582264] [ 0.47938604 -0.02665211 0.87719935 1.52212558] [ 0. 0. 0. 1. ]] SLAMing on 149.98538475 meters Centerline goodness : 0.954421 Centerline is valid? [True, True] Translation: X:11.26, Y:0.05, Z:1.52 [[ 8.77509404e-01 1.55463928e-02 -4.79307371e-01 1.12623636e+01] [-1.43969818e-02 9.99877913e-01 6.07336350e-03 4.69758019e-02] [ 4.79343273e-01 1.57114593e-03 8.77626092e-01 1.51654607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters Centerline goodness : 0.953824 Centerline is valid? [True, True] Translation: X:11.29, Y:0.05, Z:1.53 [[ 8.77423162e-01 1.98052019e-02 -4.79308198e-01 1.12860508e+01] [-1.92857005e-02 9.99795965e-01 6.00749299e-03 4.75713005e-02] [ 4.79329382e-01 3.97268087e-03 8.77626094e-01 1.52930105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04538475 meters Centerline goodness : 0.951866 Centerline is valid? [True, True] Translation: X:11.31, Y:0.05, Z:1.54 [[ 8.77406455e-01 2.05025333e-02 -4.79309460e-01 1.13110187e+01] [-2.01361260e-02 9.99779808e-01 5.90527024e-03 4.86648334e-02] [ 4.79324993e-01 4.47011345e-03 8.77626099e-01 1.54301398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters Centerline goodness : 0.952719 Centerline is valid? [True, True] Translation: X:11.33, Y:0.05, Z:1.56 [[ 8.77394064e-01 2.09836957e-02 -4.79311320e-01 1.13349794e+01] [-2.07688312e-02 9.99767766e-01 5.75069518e-03 4.93929927e-02] [ 4.79320678e-01 4.90911009e-03 8.77626109e-01 1.55717246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10538475 meters Centerline goodness : 0.954167 Centerline is valid? [True, True] Translation: X:11.36, Y:0.05, Z:1.57 [[ 8.77360307e-01 2.23111572e-02 -4.79313158e-01 1.13598945e+01] [-2.23671727e-02 9.99734174e-01 5.59374748e-03 5.03189116e-02] [ 4.79310547e-01 5.81314819e-03 8.77626120e-01 1.57006328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters Centerline goodness : 0.951157 Centerline is valid? [True, True] Translation: X:11.39, Y:0.05, Z:1.58 [[ 8.77351672e-01 2.26362854e-02 -4.79313720e-01 1.13863258e+01] [-2.27641631e-02 9.99725484e-01 5.54520909e-03 4.92686498e-02] [ 4.79307663e-01 6.04607722e-03 8.77626121e-01 1.58236800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16538475000002 meters Centerline goodness : 0.949598 Centerline is valid? [True, False] Translation: X:11.39, Y:0.05, Z:1.58 [[ 8.76941857e-01 2.68047838e-02 -4.79848396e-01 1.13883790e+01] [-2.51746987e-02 9.99634709e-01 9.83278314e-03 4.66065471e-02] [ 4.79936677e-01 3.45725965e-03 8.77296320e-01 1.58411778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters Centerline goodness : 0.947017 Centerline is valid? [False, False] Translation: X:11.39, Y:0.05, Z:1.58 [[ 8.76829030e-01 2.66586348e-02 -4.80062672e-01 1.13894189e+01] [-2.49855175e-02 9.99639031e-01 9.87576225e-03 4.60587228e-02] [ 4.80152659e-01 3.33525926e-03 8.77178602e-01 1.58418945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22538475000002 meters Centerline goodness : 0.946716 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.58 [[ 8.76720280e-01 2.69245653e-02 -4.80246414e-01 1.13897659e+01] [-2.50479160e-02 9.99633014e-01 1.03169295e-02 4.48152970e-02] [ 4.80347949e-01 2.98411049e-03 8.77072941e-01 1.58459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters Centerline goodness : 0.947567 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.58 [[ 8.76698119e-01 2.71876466e-02 -4.80272047e-01 1.13897249e+01] [-2.51938573e-02 9.99626403e-01 1.05983309e-02 4.43646462e-02] [ 4.80380763e-01 2.80836861e-03 8.77055549e-01 1.58473923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28538475 meters Centerline goodness : 0.948570 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.59 [[ 8.76527234e-01 2.74632102e-02 -4.80568185e-01 1.13896901e+01] [-2.49304334e-02 9.99621256e-01 1.16541315e-02 4.16864120e-02] [ 4.80706232e-01 1.76560944e-03 8.76879924e-01 1.58624193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters Centerline goodness : 0.943880 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.59 [[ 8.76174929e-01 2.69457805e-02 -4.81239461e-01 1.13919870e+01] [-2.41932237e-02 9.99636182e-01 1.19243777e-02 3.96325197e-02] [ 4.81385689e-01 1.19489315e-03 8.76508066e-01 1.58710647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34538475 meters Centerline goodness : 0.942969 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.59 [[ 8.75858291e-01 2.60137896e-02 -4.81866722e-01 1.13939767e+01] [-2.29911363e-02 9.99661499e-01 1.21776547e-02 3.72361099e-02] [ 4.82020396e-01 4.12763636e-04 8.76159898e-01 1.58846000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters Centerline goodness : 0.940865 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:1.59 [[ 0.8771104 0.02821646 -0.47945925 11.38885689] [-0.0179549 0.99950134 0.02597501 0.03553046] [ 0.47995309 -0.01417431 0.87717964 1.58923176] [ 0. 0. 0. 1. ]] SLAMing on 150.40538475 meters Centerline goodness : 0.942673 Centerline is valid? [False, False] Translation: X:11.39, Y:0.03, Z:1.59 [[ 0.87692594 0.02828761 -0.47979235 11.38919693] [-0.01759008 0.99948663 0.02677802 0.03358961] [ 0.48030353 -0.01504275 0.87697334 1.59058147] [ 0. 0. 0. 1. ]] SLAMing on 150.43538475 meters Centerline goodness : 0.943778 Centerline is valid? [False, False] Translation: X:11.39, Y:0.03, Z:1.59 [[ 0.87684325 0.02891985 -0.47990577 11.38866857] [-0.01777573 0.99945682 0.02775048 0.03179548] [ 0.48044764 -0.01580215 0.87688104 1.5915919 ] [ 0. 0. 0. 1. ]] SLAMing on 150.46538475 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:11.39, Y:0.03, Z:1.59 [[ 0.87683371 0.02950194 -0.47988777 11.38772586] [-0.0179983 0.99943015 0.02855585 0.03070192] [ 0.48045676 -0.01640157 0.87686503 1.59245257] [ 0. 0. 0. 1. ]] SLAMing on 150.49538475 meters Centerline goodness : 0.948460 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:1.60 [[ 0.8769512 0.03172064 -0.47953143 11.38323337] [-0.01912207 0.99933225 0.03113526 0.02742008] [ 0.48019885 -0.01813446 0.87697218 1.5950645 ] [ 0. 0. 0. 1. ]] SLAMing on 150.52538475 meters Centerline goodness : 0.951755 Centerline is valid? [False, True] Translation: X:11.38, Y:0.02, Z:1.60 [[ 0.87692575 0.0329582 -0.47949452 11.38113402] [-0.01972963 0.99927364 0.03260275 0.02496587] [ 0.48022076 -0.01912994 0.87693903 1.59656431] [ 0. 0. 0. 1. ]] SLAMing on 150.55538475 meters Centerline goodness : 0.953102 Centerline is valid? [True, True] Translation: X:11.41, Y:0.03, Z:1.60 [[ 8.76939480e-01 2.18022519e-02 -4.80106041e-01 1.14130984e+01] [-1.86149752e-02 9.99761741e-01 1.13992539e-02 2.98681003e-02] [ 4.80240181e-01 -1.05929378e-03 8.77136390e-01 1.59836058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58538475 meters Centerline goodness : 0.952415 Centerline is valid? [True, True] Translation: X:11.44, Y:0.03, Z:1.61 [[ 8.76957941e-01 2.09748797e-02 -4.80109179e-01 1.14371803e+01] [-1.77448403e-02 9.99779078e-01 1.12657027e-02 2.86585787e-02] [ 4.80239409e-01 -1.36008677e-03 8.77136398e-01 1.61248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters Centerline goodness : 0.953307 Centerline is valid? [True, True] Translation: X:11.46, Y:0.03, Z:1.63 [[ 8.76968333e-01 2.04508067e-02 -4.80112807e-01 1.14619691e+01] [-1.72330881e-02 9.99789782e-01 1.11091288e-02 2.72890212e-02] [ 4.80239070e-01 -1.46852783e-03 8.77136409e-01 1.62572074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64538475 meters Centerline goodness : 0.953879 Centerline is valid? [True, True] Translation: X:11.49, Y:0.03, Z:1.64 [[ 8.76967576e-01 2.03993298e-02 -4.80116379e-01 1.14863992e+01] [-1.72599831e-02 9.99791043e-01 1.09528063e-02 2.63325565e-02] [ 4.80239485e-01 -1.31845544e-03 8.77136419e-01 1.64037367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters Centerline goodness : 0.954250 Centerline is valid? [True, True] Translation: X:11.51, Y:0.03, Z:1.65 [[ 8.76975268e-01 1.99800296e-02 -4.80119962e-01 1.15127443e+01] [-1.68690626e-02 9.99799445e-01 1.07937019e-02 2.50066805e-02] [ 4.80239330e-01 -1.36663589e-03 8.77136431e-01 1.65348606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70538475 meters Centerline goodness : 0.951321 Centerline is valid? [True, True] Translation: X:11.54, Y:0.02, Z:1.66 [[ 8.76984539e-01 1.94930224e-02 -4.80123047e-01 1.15381082e+01] [-1.63898315e-02 9.99808905e-01 1.06549113e-02 2.47653086e-02] [ 4.80238994e-01 -1.47505658e-03 8.77136439e-01 1.66468812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters Centerline goodness : 0.948954 Centerline is valid? [True, False] Translation: X:11.54, Y:0.02, Z:1.66 [[ 8.76741743e-01 1.85675195e-02 -4.80602916e-01 1.15410826e+01] [-1.55960126e-02 9.99826591e-01 1.01760192e-02 2.45736185e-02] [ 4.80708518e-01 -1.42625168e-03 8.76879288e-01 1.66446481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76538475 meters Centerline goodness : 0.946853 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.66 [[ 8.76541583e-01 1.84388008e-02 -4.80972831e-01 1.15421311e+01] [-1.53584891e-02 9.99828585e-01 1.03400555e-02 2.39018380e-02] [ 4.81081044e-01 -1.67647261e-03 8.76674523e-01 1.66494823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters Centerline goodness : 0.947070 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.76401443e-01 1.85449260e-02 -4.81224061e-01 1.15426646e+01] [-1.53398259e-02 9.99826218e-01 1.05935220e-02 2.31166641e-02] [ 4.81336889e-01 -1.90228461e-03 8.76533616e-01 1.66532805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82538475 meters Centerline goodness : 0.943238 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.76296069e-01 1.87598669e-02 -4.81407589e-01 1.15428566e+01] [-1.54634630e-02 9.99821953e-01 1.08140277e-02 2.29582666e-02] [ 4.81524746e-01 -2.03206154e-03 8.76430140e-01 1.66568194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters Centerline goodness : 0.944876 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.76309868e-01 1.97534984e-02 -4.81342720e-01 1.15410144e+01] [-1.60632984e-02 9.99801510e-01 1.17860941e-02 2.19857846e-02] [ 4.81479995e-01 -2.59631883e-03 8.76453235e-01 1.66665822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88538475000001 meters Centerline goodness : 0.948440 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.76306347e-01 2.03737835e-02 -4.81323275e-01 1.15398555e+01] [-1.63638238e-02 9.99787622e-01 1.25274098e-02 2.14793371e-02] [ 4.81476284e-01 -3.10155943e-03 8.76453632e-01 1.66753077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters Centerline goodness : 0.949969 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.76340199e-01 2.13913220e-02 -4.81217484e-01 1.15376133e+01] [-1.69615840e-02 9.99764276e-01 1.35534593e-02 2.13185005e-02] [ 4.81393977e-01 -3.71523045e-03 8.76496455e-01 1.66876934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94538475000002 meters Centerline goodness : 0.946579 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.75881112e-01 2.62580292e-02 -4.81811989e-01 1.15390552e+01] [-2.01678925e-02 9.99637862e-01 1.78157543e-02 2.11384934e-02] [ 4.82105313e-01 -5.88735032e-03 8.76093492e-01 1.67039732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters Centerline goodness : 0.946579 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.75881112e-01 2.62580292e-02 -4.81811989e-01 1.15390552e+01] [-2.01678925e-02 9.99637862e-01 1.78157543e-02 2.11384934e-02] [ 4.82105313e-01 -5.88735032e-03 8.76093492e-01 1.67039732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00538475 meters Centerline goodness : 0.941863 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.75431356e-01 3.14924160e-02 -4.82315424e-01 1.15401265e+01] [-2.37701862e-02 9.99472802e-01 2.21155003e-02 2.08456665e-02] [ 4.82757619e-01 -7.89587502e-03 8.75718412e-01 1.67172250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters Centerline goodness : 0.945071 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.75006058e-01 3.74350093e-02 -4.82662426e-01 1.15391335e+01] [-2.74617143e-02 9.99238557e-01 2.77157233e-02 1.88515048e-02] [ 4.83332444e-01 -1.09966882e-02 8.75367820e-01 1.67479316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06538475 meters Centerline goodness : 0.946440 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 8.75008506e-01 3.77899977e-02 -4.82630326e-01 1.15385003e+01] [-2.77076775e-02 9.99223693e-01 2.80053009e-02 1.89825474e-02] [ 4.83313976e-01 -1.11323110e-02 8.75376303e-01 1.67508119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters Centerline goodness : 0.946597 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.67 [[ 8.75073827e-01 3.80166743e-02 -4.82494071e-01 1.15382853e+01] [-2.79214343e-02 9.99215349e-01 2.80905589e-02 1.96479579e-02] [ 4.83183392e-01 -1.11093864e-02 8.75448680e-01 1.67489672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12538475 meters Centerline goodness : 0.946386 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87460731 0.04269441 -0.48294849 11.53983603] [-0.03076323 0.99899482 0.03260337 0.01765554] [ 0.48385502 -0.01365809 0.87504159 1.67673987] [ 0. 0. 0. 1. ]] SLAMing on 151.15538475 meters Centerline goodness : 0.945602 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87458438 0.04319299 -0.48294568 11.53852988] [-0.03086277 0.99896365 0.0334533 0.01639662] [ 0.48389013 -0.01435269 0.87501105 1.67794119] [ 0. 0. 0. 1. ]] SLAMing on 151.18538475 meters Centerline goodness : 0.945602 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87458438 0.04319299 -0.48294568 11.53852988] [-0.03086277 0.99896365 0.0334533 0.01639662] [ 0.48389013 -0.01435269 0.87501105 1.67794119] [ 0. 0. 0. 1. ]] SLAMing on 151.21538475 meters Centerline goodness : 0.948982 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87455037 0.04337556 -0.48299091 11.53843786] [-0.03103834 0.99895626 0.03351139 0.01681831] [ 0.48394037 -0.01431617 0.87498387 1.67800496] [ 0. 0. 0. 1. ]] SLAMing on 151.24538475 meters Centerline goodness : 0.947457 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87457179 0.04367776 -0.48292489 11.53807323] [-0.03134122 0.99894416 0.03359011 0.01751949] [ 0.48388213 -0.01424151 0.87501729 1.67794786] [ 0. 0. 0. 1. ]] SLAMing on 151.27538475 meters Centerline goodness : 0.947921 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87459753 0.04407468 -0.48284219 11.53746403] [-0.03164784 0.99892544 0.03385827 0.01789251] [ 0.48381564 -0.01433145 0.87505259 1.67810632] [ 0. 0. 0. 1. ]] SLAMing on 151.30538475 meters Centerline goodness : 0.948396 Centerline is valid? [False, False] Translation: X:11.54, Y:0.02, Z:1.68 [[ 0.87474491 0.04507805 -0.48248245 11.53532177] [-0.03243488 0.99887755 0.0345198 0.01780624] [ 0.48349697 -0.01454676 0.87522516 1.67835879] [ 0. 0. 0. 1. ]] SLAMing on 151.33538475 meters Centerline goodness : 0.951261 Centerline is valid? [False, True] Translation: X:11.53, Y:0.02, Z:1.68 [[ 0.87478389 0.04571676 -0.48235166 11.53395509] [-0.03280788 0.99884271 0.03516946 0.01740217] [ 0.48340127 -0.01494074 0.87527138 1.678995 ] [ 0. 0. 0. 1. ]] SLAMing on 151.36538475 meters Centerline goodness : 0.953070 Centerline is valid? [True, True] Translation: X:11.56, Y:0.02, Z:1.68 [[ 8.74846618e-01 3.57885380e-02 -4.83076160e-01 1.15648497e+01] [-3.21969317e-02 9.99357776e-01 1.57287352e-02 2.42527400e-02] [ 4.83328825e-01 1.79333933e-03 8.75437051e-01 1.68051178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters Centerline goodness : 0.951447 Centerline is valid? [True, True] Translation: X:11.59, Y:0.02, Z:1.69 [[ 8.74834409e-01 3.60535894e-02 -4.83078560e-01 1.15910731e+01] [-3.25405714e-02 9.99347808e-01 1.56547289e-02 2.37083599e-02] [ 4.83327909e-01 2.02435683e-03 8.75437054e-01 1.69349931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42538475 meters Centerline goodness : 0.948884 Centerline is valid? [True, False] Translation: X:11.59, Y:0.02, Z:1.69 [[ 8.74704588e-01 3.61339590e-02 -4.83307583e-01 1.15916287e+01] [-3.25547638e-02 9.99345117e-01 1.57963469e-02 2.37155537e-02] [ 4.83561858e-01 1.91682710e-03 8.75308092e-01 1.69378719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters Centerline goodness : 0.949661 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.69 [[ 8.74256864e-01 4.02511165e-02 -4.83792088e-01 1.15942488e+01] [-3.50819914e-02 9.99189556e-01 1.97353857e-02 2.19624808e-02] [ 4.84194372e-01 -2.81406536e-04 8.74960417e-01 1.69493803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48538475 meters Centerline goodness : 0.946634 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.69 [[ 8.74182591e-01 3.97243696e-02 -4.83969805e-01 1.15959542e+01] [-3.45942392e-02 9.99210622e-01 1.95287604e-02 2.16807708e-02] [ 4.84363537e-01 -3.29135232e-04 8.74866764e-01 1.69470578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters Centerline goodness : 0.944896 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.74058361e-01 3.96606852e-02 -4.84199352e-01 1.15966816e+01] [-3.44507247e-02 9.99213081e-01 1.96562251e-02 2.15124014e-02] [ 4.84597905e-01 -4.99669274e-04 8.74736886e-01 1.69501092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54538475 meters Centerline goodness : 0.946358 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.73982828e-01 3.96941849e-02 -4.84332931e-01 1.15970191e+01] [-3.44117084e-02 9.99211674e-01 1.97955788e-02 2.13699828e-02] [ 4.84736888e-01 -6.34272429e-04 8.74659790e-01 1.69524204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters Centerline goodness : 0.943399 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.73909488e-01 4.01357694e-02 -4.84428867e-01 1.15965692e+01] [-3.46307882e-02 9.99193761e-01 2.03110026e-02 2.07721142e-02] [ 4.84853499e-01 -9.73824429e-04 8.74594841e-01 1.69585248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60538475 meters Centerline goodness : 0.944683 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.73852346e-01 4.08590577e-02 -4.84471481e-01 1.15954006e+01] [-3.50428497e-02 9.99163903e-01 2.10592771e-02 1.99246794e-02] [ 4.84926878e-01 -1.42543738e-03 8.74553538e-01 1.69668612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters Centerline goodness : 0.945839 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.70 [[ 8.73807663e-01 4.12936666e-02 -4.84515224e-01 1.15947120e+01] [-3.52823713e-02 9.99145585e-01 2.15233245e-02 1.95525698e-02] [ 4.84990024e-01 -1.71239985e-03 8.74518007e-01 1.69728211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66538475000002 meters Centerline goodness : 0.942343 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.70 [[ 8.73672351e-01 4.14005928e-02 -4.84750054e-01 1.15949364e+01] [-3.52341616e-02 9.99140642e-01 2.18296047e-02 1.94217097e-02] [ 4.85237238e-01 -1.99216034e-03 8.74380268e-01 1.69793010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters Centerline goodness : 0.939576 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.73150728e-01 4.52243325e-02 -4.85347882e-01 1.15981061e+01] [-3.74851955e-02 9.98968028e-01 2.56464218e-02 1.87347697e-02] [ 4.86006859e-01 -4.19983159e-03 8.73944904e-01 1.69934966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72538475000002 meters Centerline goodness : 0.938149 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.73050981e-01 4.49775417e-02 -4.85550208e-01 1.15992565e+01] [-3.73311440e-02 9.98979743e-01 2.54137696e-02 1.93707723e-02] [ 4.86197871e-01 -4.06137173e-03 8.73839308e-01 1.69917389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters Centerline goodness : 0.941438 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.72997967e-01 4.57632742e-02 -4.85572108e-01 1.15975145e+01] [-3.76685063e-02 9.98940893e-01 2.64230098e-02 1.83932062e-02] [ 4.86267039e-01 -4.77645783e-03 8.73797203e-01 1.70059018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78538475 meters Centerline goodness : 0.941732 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.72608299e-01 5.22986744e-02 -4.85612608e-01 1.15951533e+01] [-4.20925102e-02 9.98604045e-01 3.19089616e-02 1.77313325e-02] [ 4.86603511e-01 -7.40337099e-03 8.73591560e-01 1.70313169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters Centerline goodness : 0.941020 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.72549028e-01 5.22804980e-02 -4.85721054e-01 1.15950187e+01] [-4.19767104e-02 9.98603518e-01 3.20775703e-02 1.80030712e-02] [ 4.86719785e-01 -7.60028079e-03 8.73525092e-01 1.70367166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84538475 meters Centerline goodness : 0.944628 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.72453812e-01 5.18479678e-02 -4.85938407e-01 1.15959850e+01] [-4.16488878e-02 9.98626959e-01 3.17736720e-02 1.87300661e-02] [ 4.86918594e-01 -7.48226707e-03 8.73415307e-01 1.70369907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters Centerline goodness : 0.941368 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.71962185e-01 5.59379476e-02 -4.86367036e-01 1.15993373e+01] [-4.43173313e-02 9.98391021e-01 3.53743291e-02 1.85752877e-02] [ 4.87563249e-01 -9.29058824e-03 8.73038237e-01 1.70419767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90538475 meters Centerline goodness : 0.939921 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.70 [[ 8.71951272e-01 5.63860584e-02 -4.86334856e-01 1.15986743e+01] [-4.46106386e-02 9.98363912e-01 3.57685708e-02 1.85981180e-02] [ 4.87556018e-01 -9.49274229e-03 8.73040100e-01 1.70455399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93538475 meters Centerline goodness : 0.942562 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.71 [[ 8.71992051e-01 5.71603938e-02 -4.86171320e-01 1.15969597e+01] [-4.51108888e-02 9.98316270e-01 3.64641311e-02 1.80749710e-02] [ 4.87437043e-01 -9.86481215e-03 8.73102408e-01 1.70520522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96538475 meters Centerline goodness : 0.942804 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 8.72035220e-01 5.81470890e-02 -4.85976842e-01 1.15949378e+01] [-4.57386990e-02 9.98254290e-01 3.73676749e-02 1.72451475e-02] [ 4.87301289e-01 -1.03579801e-02 8.73172472e-01 1.70600056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99538475 meters Centerline goodness : 0.940080 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 8.71913209e-01 5.89643686e-02 -4.86097274e-01 1.15936437e+01] [-4.60955044e-02 9.98198641e-01 3.84015185e-02 1.57017554e-02] [ 4.87485960e-01 -1.10758922e-02 8.73060573e-01 1.70733470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02538475 meters Centerline goodness : 0.938777 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.71 [[ 8.71778720e-01 5.85963718e-02 -4.86382903e-01 1.15952844e+01] [-4.57852507e-02 9.98220835e-01 3.81952403e-02 1.57538661e-02] [ 4.87755650e-01 -1.10286345e-02 8.72910531e-01 1.70716149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05538475 meters Centerline goodness : 0.937523 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.71 [[ 8.71719605e-01 5.83515479e-02 -4.86518270e-01 1.15964466e+01] [-4.56111423e-02 9.98236193e-01 3.80016564e-02 1.62306921e-02] [ 4.87877602e-01 -1.09361349e-02 8.72843541e-01 1.70689675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08538475 meters Centerline goodness : 0.935394 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.71 [[ 8.71785884e-01 5.84292379e-02 -4.86390170e-01 1.15964547e+01] [-4.57042236e-02 9.98232092e-01 3.79975677e-02 1.70087500e-02] [ 4.87750446e-01 -1.08956580e-02 8.72915109e-01 1.70664203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11538475 meters Centerline goodness : 0.937783 Centerline is valid? [False, False] Translation: X:11.60, Y:0.02, Z:1.71 [[ 8.71807787e-01 5.90352301e-02 -4.86277724e-01 1.15953499e+01] [-4.61305591e-02 9.98194026e-01 3.84793143e-02 1.69665188e-02] [ 4.87671154e-01 -1.11143026e-02 8.72956653e-01 1.70699886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14538475 meters Centerline goodness : 0.938724 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 8.71856310e-01 5.97472314e-02 -4.86103737e-01 1.15937945e+01] [-4.66566173e-02 9.98149308e-01 3.90015342e-02 1.70132854e-02] [ 4.87534342e-01 -1.13237777e-02 8.73030376e-01 1.70743813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17538475 meters Centerline goodness : 0.942509 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87190528 0.06122984 -0.48583134 11.59046585] [-0.04772382 0.99805382 0.04013744 0.01636516] [ 0.48734343 -0.01181032 0.87313052 1.70855791] [ 0. 0. 0. 1. ]] SLAMing on 152.20538475 meters Centerline goodness : 0.942635 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.8720161 0.06207988 -0.48552446 11.58855241] [-0.04843413 0.99800021 0.04061668 0.01678266] [ 0.48707499 -0.01190245 0.87327904 1.70878392] [ 0. 0. 0. 1. ]] SLAMing on 152.23538475 meters Centerline goodness : 0.947077 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87199495 0.06254405 -0.48550289 11.58767943] [-0.04874867 0.99796898 0.04100579 0.0169588 ] [ 0.48708149 -0.01208923 0.87327285 1.7092663 ] [ 0. 0. 0. 1. ]] SLAMing on 152.26538475 meters Centerline goodness : 0.944399 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87154017 0.0673893 -0.4856711 11.58889092] [-0.05196984 0.99762679 0.04516548 0.01697561] [ 0.48756217 -0.01412328 0.87297404 1.71037992] [ 0. 0. 0. 1. ]] SLAMing on 152.29538475 meters Centerline goodness : 0.944136 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87144762 0.06693106 -0.48590048 11.59014744] [-0.05161508 0.99765926 0.04485395 0.0178924 ] [ 0.48776524 -0.01400807 0.87286244 1.7103284 ] [ 0. 0. 0. 1. ]] SLAMing on 152.32538475 meters Centerline goodness : 0.939553 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87142637 0.06684778 -0.48595006 11.59082984] [-0.0516475 0.99766791 0.04462371 0.01859904] [ 0.48779978 -0.01378817 0.87284665 1.70995129] [ 0. 0. 0. 1. ]] SLAMing on 152.35538475 meters Centerline goodness : 0.941746 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87145734 0.06740256 -0.48581787 11.5896868 ] [-0.05212365 0.99763019 0.04491249 0.01899444] [ 0.48769379 -0.01381672 0.87290542 1.71015709] [ 0. 0. 0. 1. ]] SLAMing on 152.38538475000001 meters Centerline goodness : 0.942520 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87154912 0.06912029 -0.4854117 11.58591089] [-0.05324818 0.99750118 0.04643309 0.01744504] [ 0.48740821 -0.01462143 0.8730518 1.71147484] [ 0. 0. 0. 1. ]] SLAMing on 152.41538475000002 meters Centerline goodness : 0.942096 Centerline is valid? [False, False] Translation: X:11.58, Y:0.02, Z:1.71 [[ 0.87160945 0.06973986 -0.48521472 11.58484482] [-0.05373159 0.99745603 0.04684419 0.01709642] [ 0.48724725 -0.01475848 0.87313934 1.71152054] [ 0. 0. 0. 1. ]] SLAMing on 152.44538475000002 meters Centerline goodness : 0.943664 Centerline is valid? [False, False] Translation: X:11.58, Y:0.02, Z:1.71 [[ 0.87158176 0.07011265 -0.48521072 11.58408133] [-0.05372564 0.99741964 0.04761941 0.01571943] [ 0.48729743 -0.01543595 0.87309962 1.71247762] [ 0. 0. 0. 1. ]] SLAMing on 152.47538475000002 meters Centerline goodness : 0.941593 Centerline is valid? [False, False] Translation: X:11.58, Y:0.02, Z:1.71 [[ 0.87148873 0.07018825 -0.48536687 11.58458023] [-0.05373841 0.99741291 0.04774584 0.01585079] [ 0.48746238 -0.01552711 0.87300592 1.71264054] [ 0. 0. 0. 1. ]] SLAMing on 152.50538475 meters Centerline goodness : 0.939561 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:1.71 [[ 0.87135361 0.06996274 -0.48564194 11.58589011] [-0.05350518 0.99742806 0.04769124 0.01532856] [ 0.48772951 -0.01557158 0.87285592 1.71262271] [ 0. 0. 0. 1. ]] SLAMing on 152.53538475 meters Centerline goodness : 0.938033 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.87125628 0.07020798 -0.48578115 11.5858661 ] [-0.05354826 0.99740558 0.04811133 0.01460436] [ 0.48789863 -0.01590457 0.87275539 1.71319703] [ 0. 0. 0. 1. ]] SLAMing on 152.56538475 meters Centerline goodness : 0.940487 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.87123541 0.07001267 -0.48584677 11.58654521] [-0.05337478 0.99741931 0.04801922 0.01481206] [ 0.4879549 -0.01590408 0.87272394 1.71309973] [ 0. 0. 0. 1. ]] SLAMing on 152.59538475 meters Centerline goodness : 0.941244 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.87113481 0.07022235 -0.48599688 11.58630395] [-0.05329442 0.99739614 0.04858649 0.01423437] [ 0.48814327 -0.01642446 0.87260896 1.71405253] [ 0. 0. 0. 1. ]] SLAMing on 152.62538475 meters Centerline goodness : 0.936632 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.87105213 0.06964184 -0.48622854 11.58793245] [-0.05290749 0.99744122 0.04808122 0.01481668] [ 0.48833285 -0.01615611 0.87250788 1.71364255] [ 0. 0. 0. 1. ]] SLAMing on 152.65538475 meters Centerline goodness : 0.935470 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.8709877 0.06983547 -0.48631619 11.58761902] [-0.05284732 0.99742017 0.04858143 0.01367337] [ 0.48845429 -0.01661332 0.87243132 1.71436147] [ 0. 0. 0. 1. ]] SLAMing on 152.68538475 meters Centerline goodness : 0.940027 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.71 [[ 0.87099289 0.07019507 -0.48625512 11.58681314] [-0.05300578 0.99738951 0.04903633 0.01354567] [ 0.48842787 -0.01693596 0.87243991 1.71495115] [ 0. 0. 0. 1. ]] SLAMing on 152.71538475 meters Centerline goodness : 0.947241 Centerline is valid? [False, False] Translation: X:11.58, Y:0.01, Z:1.72 [[ 0.87110339 0.07079049 -0.48597077 11.58457433] [-0.05310666 0.99733199 0.0500858 0.01270814] [ 0.48821979 -0.01782163 0.87253872 1.71636248] [ 0. 0. 0. 1. ]] SLAMing on 152.74538475 meters Centerline goodness : 0.947756 Centerline is valid? [False, False] Translation: X:11.58, Y:0.01, Z:1.72 [[ 0.87105079 0.07079637 -0.48606419 11.58465064] [-0.05303112 0.99732881 0.05022889 0.01295637] [ 0.48832184 -0.01797539 0.87247846 1.71673404] [ 0. 0. 0. 1. ]] SLAMing on 152.77538475 meters Centerline goodness : 0.943696 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87041431 0.07508839 -0.48656003 11.58743026] [-0.05576427 0.99697714 0.054101 0.01196084] [ 0.48915158 -0.01995762 0.87197042 1.71788012] [ 0. 0. 0. 1. ]] SLAMing on 152.80538475 meters Centerline goodness : 0.938180 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87034174 0.07465618 -0.48675632 11.58928761] [-0.05564947 0.99702059 0.05341419 0.01302061] [ 0.48929378 -0.01940087 0.87190321 1.71692739] [ 0. 0. 0. 1. ]] SLAMing on 152.83538475 meters Centerline goodness : 0.938903 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87034939 0.07455684 -0.48675786 11.58985553] [-0.05567499 0.99703244 0.05316585 0.01344768] [ 0.48927726 -0.01917262 0.87191753 1.71646979] [ 0. 0. 0. 1. ]] SLAMing on 152.86538475 meters Centerline goodness : 0.934370 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87034894 0.07481184 -0.48671954 11.58977202] [-0.05590115 0.99701342 0.0532851 0.01379665] [ 0.48925227 -0.01916845 0.87193164 1.7164186 ] [ 0. 0. 0. 1. ]] SLAMing on 152.89538475 meters Centerline goodness : 0.938178 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87044444 0.07523959 -0.48648277 11.58922819] [-0.0563894 0.99698519 0.05329875 0.01451821] [ 0.4890263 -0.01896113 0.87206293 1.71592862] [ 0. 0. 0. 1. ]] SLAMing on 152.92538475 meters Centerline goodness : 0.939230 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87048533 0.07619871 -0.48626027 11.58726894] [-0.05699338 0.99690276 0.05419076 0.01366976] [ 0.48888347 -0.01945864 0.87213205 1.71665546] [ 0. 0. 0. 1. ]] SLAMing on 152.95538475 meters Centerline goodness : 0.938633 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87045435 0.07635839 -0.48629067 11.58723282] [-0.05704436 0.99688711 0.05442462 0.01335987] [ 0.48893267 -0.01963401 0.87210054 1.71686199] [ 0. 0. 0. 1. ]] SLAMing on 152.98538475 meters Centerline goodness : 0.941269 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87041609 0.07616796 -0.48638901 11.58813183] [-0.05685726 0.99690106 0.05436481 0.01322406] [ 0.48902258 -0.01966526 0.87204942 1.7167183 ] [ 0. 0. 0. 1. ]] SLAMing on 153.01538475 meters Centerline goodness : 0.937913 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87039104 0.07575129 -0.48649891 11.58966347] [-0.05651395 0.99693385 0.05412096 0.01316117] [ 0.48910696 -0.01961243 0.87200329 1.71625209] [ 0. 0. 0. 1. ]] SLAMing on 153.04538475 meters Centerline goodness : 0.938870 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 0.87030955 0.07586721 -0.48662661 11.5896319 ] [-0.05642056 0.99691749 0.05451819 0.01218307] [ 0.48926272 -0.01999195 0.87190729 1.71687556] [ 0. 0. 0. 1. ]] SLAMing on 153.07538475 meters Centerline goodness : 0.941612 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70271106e-01 7.66422228e-02 -4.86573912e-01 1.15880984e+01] [-5.65601265e-02 9.96835640e-01 5.58539098e-02 9.11581712e-03] [ 4.89314984e-01 -2.10873619e-02 8.71852149e-01 1.71836519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10538475 meters Centerline goodness : 0.941612 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70271106e-01 7.66422228e-02 -4.86573912e-01 1.15880984e+01] [-5.65601265e-02 9.96835640e-01 5.58539098e-02 9.11581712e-03] [ 4.89314984e-01 -2.10873619e-02 8.71852149e-01 1.71836519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13538475000001 meters Centerline goodness : 0.943696 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70306149e-01 7.72492540e-02 -4.86415213e-01 1.15871329e+01] [-5.68712352e-02 9.96778895e-01 5.65464228e-02 7.83293570e-03] [ 4.89216588e-01 -2.15496654e-02 8.71896062e-01 1.71880792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16538475000002 meters Centerline goodness : 0.944946 Centerline is valid? [False, False] Translation: X:11.58, Y:0.01, Z:1.72 [[ 8.70414927e-01 7.84666585e-02 -4.86025554e-01 1.15847842e+01] [-5.77058093e-02 9.96672677e-01 5.75640039e-02 6.43766639e-03] [ 4.88925245e-01 -2.20580703e-02 8.72046757e-01 1.71932546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19538475000002 meters Centerline goodness : 0.946611 Centerline is valid? [False, False] Translation: X:11.58, Y:0.01, Z:1.72 [[ 8.70462044e-01 7.89886560e-02 -4.85856586e-01 1.15839666e+01] [-5.80758899e-02 9.96627137e-01 5.79787969e-02 6.05792476e-03] [ 4.88797525e-01 -2.22517885e-02 8.72113431e-01 1.71945503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22538475000002 meters Centerline goodness : 0.947627 Centerline is valid? [False, False] Translation: X:11.58, Y:0.01, Z:1.72 [[ 8.70464185e-01 7.92140064e-02 -4.85816060e-01 1.15836805e+01] [-5.82309109e-02 9.96607261e-01 5.81646713e-02 5.91083921e-03] [ 4.88775270e-01 -2.23407515e-02 8.72123630e-01 1.71953961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25538475 meters Centerline goodness : 0.945248 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70465873e-01 7.85584660e-02 -4.85919469e-01 1.15857326e+01] [-5.78779108e-02 9.96669277e-01 5.74499791e-02 7.03075789e-03] [ 4.88814188e-01 -2.18842425e-02 8.72113392e-01 1.71850932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28538475 meters Centerline goodness : 0.945163 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70472061e-01 7.83917663e-02 -4.85935307e-01 1.15865509e+01] [-5.78521098e-02 9.96687754e-01 5.71546619e-02 7.58180927e-03] [ 4.88806225e-01 -2.16391536e-02 8.72123972e-01 1.71794058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31538475 meters Centerline goodness : 0.942709 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:1.72 [[ 8.70413066e-01 7.88800996e-02 -4.85961958e-01 1.15856210e+01] [-5.81046593e-02 9.96641624e-01 5.77002697e-02 6.77715509e-03] [ 4.88881318e-01 -2.19864146e-02 8.72073193e-01 1.71863906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34538475 meters Centerline goodness : 0.949755 Centerline is valid? [False, False] Translation: X:11.58, Y:0.00, Z:1.72 [[ 8.70395693e-01 8.04789124e-02 -4.85730874e-01 1.15821863e+01] [-5.89515194e-02 9.96488010e-01 5.94673393e-02 4.06426188e-03] [ 4.88810859e-01 -2.31255429e-02 8.72083226e-01 1.72052519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37538475 meters Centerline goodness : 0.951156 Centerline is valid? [False, True] Translation: X:11.58, Y:0.00, Z:1.72 [[ 8.70377491e-01 8.09433748e-02 -4.85686312e-01 1.15811336e+01] [-5.92333957e-02 9.96444445e-01 5.99155487e-02 3.91261118e-03] [ 4.88809195e-01 -2.33802954e-02 8.72077366e-01 1.72109686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40538475 meters Centerline goodness : 0.953466 Centerline is valid? [True, True] Translation: X:11.62, Y:0.01, Z:1.72 [[ 8.70666956e-01 6.33990286e-02 -4.87770042e-01 1.16173650e+01] [-5.70839202e-02 9.97981687e-01 2.78204590e-02 1.35060463e-02] [ 4.88549360e-01 3.62147183e-03 8.72528743e-01 1.71710000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43538475 meters Centerline goodness : 0.954026 Centerline is valid? [True, True] Translation: X:11.64, Y:0.01, Z:1.73 [[ 8.70722885e-01 6.25654449e-02 -4.87777842e-01 1.16419777e+01] [-5.62053880e-02 9.98035370e-01 2.76831136e-02 1.36425707e-02] [ 4.88551545e-01 3.31142233e-03 8.72528751e-01 1.73086087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46538475 meters Centerline goodness : 0.948128 Centerline is valid? [True, False] Translation: X:11.64, Y:0.01, Z:1.73 [[ 8.70667833e-01 6.19609284e-02 -4.87953244e-01 1.16439642e+01] [-5.58628801e-02 9.98071720e-01 2.70588172e-02 1.45254268e-02] [ 4.88688923e-01 3.69923182e-03 8.72450258e-01 1.73007429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters Centerline goodness : 0.949349 Centerline is valid? [False, False] Translation: X:11.64, Y:0.01, Z:1.73 [[ 8.70674778e-01 6.23460414e-02 -4.87891794e-01 1.16435670e+01] [-5.61068057e-02 9.98048428e-01 2.74109715e-02 1.43549894e-02] [ 4.88648603e-01 3.50800853e-03 8.72473631e-01 1.73027154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52538475 meters Centerline goodness : 0.951257 Centerline is valid? [False, True] Translation: X:11.64, Y:0.01, Z:1.73 [[ 8.70675056e-01 6.33894783e-02 -4.87756825e-01 1.16416880e+01] [-5.66701663e-02 9.97984958e-01 2.85397248e-02 1.23956185e-02] [ 4.88583093e-01 2.79243393e-03 8.72512902e-01 1.73124967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters Centerline goodness : 0.951479 Centerline is valid? [True, True] Translation: X:11.67, Y:0.01, Z:1.74 [[ 8.70740771e-01 6.19407584e-02 -4.87825637e-01 1.16665538e+01] [-5.56943106e-02 9.98074095e-01 2.73174644e-02 1.13337970e-02] [ 4.88578195e-01 3.38268252e-03 8.72513555e-01 1.74478434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58538475 meters Centerline goodness : 0.951568 Centerline is valid? [True, True] Translation: X:11.69, Y:0.01, Z:1.76 [[ 8.70817125e-01 6.08359615e-02 -4.87828372e-01 1.16916363e+01] [-5.44553682e-02 9.98143797e-01 2.72685461e-02 1.01745421e-02] [ 4.88581771e-01 2.81895669e-03 8.72513556e-01 1.75775015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters Centerline goodness : 0.950316 Centerline is valid? [True, True] Translation: X:11.72, Y:0.01, Z:1.77 [[ 8.70869571e-01 6.00587032e-02 -4.87831060e-01 1.17176066e+01] [-5.35914491e-02 9.98191869e-01 2.72203803e-02 8.00392450e-03] [ 4.88583818e-01 2.43817249e-03 8.72513557e-01 1.77138563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64538475 meters Centerline goodness : 0.946603 Centerline is valid? [True, False] Translation: X:11.71, Y:0.00, Z:1.78 [[ 8.68594926e-01 6.21711827e-02 -4.91607159e-01 1.17124157e+01] [-4.78044731e-02 9.97983928e-01 4.17469884e-02 4.70782738e-03] [ 4.93211503e-01 -1.27602011e-02 8.69815837e-01 1.77770092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters Centerline goodness : 0.943113 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.68477951e-01 6.13624236e-02 -4.91915340e-01 1.17149917e+01] [-4.72490711e-02 9.98038107e-01 4.10787366e-02 5.37718098e-03] [ 4.93470946e-01 -1.24334341e-02 8.69673407e-01 1.77701987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70538475 meters Centerline goodness : 0.933502 Centerline is valid? [False, False] Translation: X:11.72, Y:0.00, Z:1.78 [[ 8.67841625e-01 6.45868037e-02 -4.92625068e-01 1.17198404e+01] [-4.91330353e-02 9.97810910e-01 4.42643414e-02 4.40850679e-03] [ 4.94405560e-01 -1.42102731e-02 8.69115188e-01 1.77772744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73538475 meters Centerline goodness : 0.934972 Centerline is valid? [False, False] Translation: X:11.72, Y:0.00, Z:1.78 [[ 8.67849617e-01 6.51109951e-02 -4.92541978e-01 1.17190396e+01] [-4.94956458e-02 9.97774053e-01 4.46891539e-02 4.16252017e-03] [ 4.94355361e-01 -1.44047818e-02 8.69140541e-01 1.77801343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76538475 meters Centerline goodness : 0.937350 Centerline is valid? [False, False] Translation: X:11.72, Y:0.00, Z:1.78 [[ 8.67897791e-01 6.65972855e-02 -4.92258292e-01 1.17154674e+01] [-5.04942484e-02 9.97666855e-01 4.59475404e-02 3.62348754e-03] [ 4.94169764e-01 -1.50215563e-02 8.69235640e-01 1.77939346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79538475 meters Centerline goodness : 0.940510 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.78 [[ 8.67893877e-01 6.73575683e-02 -4.92161739e-01 1.17137140e+01] [-5.10144246e-02 9.97611378e-01 4.65732463e-02 3.46604914e-03] [ 4.94123211e-01 -1.53132874e-02 8.69257014e-01 1.78011704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82538475 meters Centerline goodness : 0.941259 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.78 [[ 8.67852345e-01 6.80087019e-02 -4.92145429e-01 1.17124155e+01] [-5.14467434e-02 9.97563031e-01 4.71299507e-02 3.54530165e-03] [ 4.94151333e-01 -1.55825586e-02 8.69236242e-01 1.78082087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85538475 meters Centerline goodness : 0.938865 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67876190e-01 6.80180613e-02 -4.92102086e-01 1.17124250e+01] [-5.17169282e-02 9.97570446e-01 4.66751063e-02 6.10519040e-03] [ 4.94081247e-01 -1.50582052e-02 8.69285322e-01 1.78032328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88538475000001 meters Centerline goodness : 0.935673 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67412819e-01 7.29411374e-02 -4.92213969e-01 1.17137316e+01] [-5.52443356e-02 9.97199045e-01 5.04195113e-02 7.57842559e-03] [ 4.94512956e-01 -1.65424968e-02 8.69012820e-01 1.78083515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91538475000002 meters Centerline goodness : 0.936001 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67376222e-01 7.35797552e-02 -4.92183410e-01 1.17123747e+01] [-5.56524721e-02 9.97147157e-01 5.09936178e-02 7.11629352e-03] [ 4.94531386e-01 -1.68394281e-02 8.68996629e-01 1.78154429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94538475000002 meters Centerline goodness : 0.936814 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67262008e-01 7.48346101e-02 -4.92195479e-01 1.17095862e+01] [-5.63397443e-02 9.97039833e-01 5.23202030e-02 5.86810669e-03] [ 4.94653861e-01 -1.76451568e-02 8.68910931e-01 1.78336001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97538475000002 meters Centerline goodness : 0.940520 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67335778e-01 7.51784077e-02 -4.92013065e-01 1.17089054e+01] [-5.66413022e-02 9.97013704e-01 5.24922541e-02 6.35671064e-03] [ 4.94490052e-01 -1.76601493e-02 8.69003859e-01 1.78326993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00538475 meters Centerline goodness : 0.940849 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67249446e-01 7.50405569e-02 -4.92186258e-01 1.17089316e+01] [-5.61922893e-02 9.97012491e-01 5.29954673e-02 5.67292190e-03] [ 4.94692657e-01 -1.83032170e-02 8.68875231e-01 1.78437900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03538475 meters Centerline goodness : 0.941591 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.67094233e-01 7.46776984e-02 -4.92514805e-01 1.17100968e+01] [-5.57513343e-02 9.97035775e-01 5.30231300e-02 5.31448699e-03] [ 4.95014525e-01 -1.85176927e-02 8.68687352e-01 1.78482869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06538475 meters Centerline goodness : 0.934684 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.66912963e-01 7.38811135e-02 -4.92953848e-01 1.17127988e+01] [-5.52576085e-02 9.97103358e-01 5.22636539e-02 6.23816670e-03] [ 4.95387234e-01 -1.80685883e-02 8.68484320e-01 1.78419933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09538475 meters Centerline goodness : 0.934410 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.78 [[ 8.66885702e-01 7.44558540e-02 -4.92915313e-01 1.17119911e+01] [-5.56199981e-02 9.97055541e-01 5.27888664e-02 5.53227856e-03] [ 4.95394384e-01 -1.83459648e-02 8.68474427e-01 1.78460202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12538475 meters Centerline goodness : 0.936526 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.79 [[ 8.66907384e-01 7.52816438e-02 -4.92751725e-01 1.17104377e+01] [-5.61368428e-02 9.96985720e-01 5.35549224e-02 4.25665344e-03] [ 4.95298135e-01 -1.87656316e-02 8.68520356e-01 1.78514939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15538475 meters Centerline goodness : 0.938424 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.79 [[ 8.67431097e-01 7.07537595e-02 -4.92500961e-01 1.17080264e+01] [-5.28689338e-02 9.97340726e-01 5.01632496e-02 3.29586857e-03] [ 4.94740505e-01 -1.74751619e-02 8.68865036e-01 1.78509169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18538475 meters Centerline goodness : 0.938777 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.79 [[ 8.67405194e-01 7.09646127e-02 -4.92516246e-01 1.17076108e+01] [-5.29071171e-02 9.97320628e-01 5.05213058e-02 2.95589977e-03] [ 4.94781837e-01 -1.77648284e-02 8.68835626e-01 1.78558758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21538475 meters Centerline goodness : 0.941526 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.79 [[ 8.66853158e-01 7.48391389e-02 -4.92914502e-01 1.17106654e+01] [-5.53961701e-02 9.97005633e-01 5.39539778e-02 3.74490488e-03] [ 4.95476404e-01 -1.94646005e-02 8.68403283e-01 1.78641977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24538475 meters Centerline goodness : 0.936425 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.79 [[ 8.66331497e-01 7.96613875e-02 -4.93075857e-01 1.17120804e+01] [-5.87499951e-02 9.96598755e-01 5.77871904e-02 4.83476251e-03] [ 4.96002193e-01 -2.10946590e-02 8.68064998e-01 1.78721009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27538475 meters Centerline goodness : 0.934289 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.66285940e-01 7.96282937e-02 -4.93161236e-01 1.17124722e+01] [-5.88664739e-02 9.96607767e-01 5.75125846e-02 5.96161564e-03] [ 4.96067947e-01 -2.07916804e-02 8.68034733e-01 1.78697530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30538475 meters Centerline goodness : 0.933337 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.66306903e-01 8.07421871e-02 -4.92943252e-01 1.17099406e+01] [-5.98112781e-02 9.96516725e-01 5.81121999e-02 6.31698238e-03] [ 4.95918301e-01 -2.08594340e-02 8.68118611e-01 1.78753443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33538475 meters Centerline goodness : 0.935044 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.66326884e-01 8.16056408e-02 -4.92765918e-01 1.17079233e+01] [-6.04470097e-02 9.96441162e-01 5.87466563e-02 6.22875599e-03] [ 4.95806302e-01 -2.11075815e-02 8.68176584e-01 1.78817325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36538475 meters Centerline goodness : 0.936107 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.66357276e-01 8.23608050e-02 -4.92586813e-01 1.17061972e+01] [-6.10568609e-02 9.96376642e-01 5.92085008e-02 6.66127092e-03] [ 4.95678455e-01 -2.12199110e-02 8.68246846e-01 1.78856644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39538475 meters Centerline goodness : 0.938740 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.65920260e-01 8.74279473e-02 -4.92481936e-01 1.17069269e+01] [-6.45696292e-02 9.95905645e-01 6.32669626e-02 7.99131455e-03] [ 4.95996841e-01 -2.29847687e-02 8.68020065e-01 1.78932310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42538475 meters Centerline goodness : 0.933939 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.65373477e-01 9.20430108e-02 -4.92602100e-01 1.17085156e+01] [-6.77163238e-02 9.95449685e-01 6.70404684e-02 9.07657216e-03] [ 4.96531212e-01 -2.46578399e-02 8.67668570e-01 1.79018253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45538475 meters Centerline goodness : 0.936210 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.65241245e-01 9.24970315e-02 -4.92749315e-01 1.17071199e+01] [-6.77987166e-02 9.95392604e-01 6.78004294e-02 8.23409407e-03] [ 4.96750362e-01 -2.52559568e-02 8.67525916e-01 1.79168145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48538475 meters Centerline goodness : 0.938811 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.79 [[ 8.65146908e-01 9.28427828e-02 -4.92849922e-01 1.17053472e+01] [-6.73860858e-02 9.95323666e-01 6.92092130e-02 6.64117687e-03] [ 4.96970767e-01 -2.66649095e-02 8.67357504e-01 1.79440878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51538475 meters Centerline goodness : 0.941146 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.65048802e-01 9.25028315e-02 -4.93085993e-01 1.17057780e+01] [-6.69477100e-02 9.95348532e-01 6.92770059e-02 6.61856819e-03] [ 4.97200738e-01 -2.69170130e-02 8.67217908e-01 1.79506370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54538475 meters Centerline goodness : 0.943184 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.65009355e-01 9.24437185e-02 -4.93166275e-01 1.17056222e+01] [-6.67133635e-02 9.95344387e-01 6.95620416e-02 6.60329537e-03] [ 4.97300858e-01 -2.72710358e-02 8.67149438e-01 1.79579006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57538475 meters Centerline goodness : 0.942830 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.64918324e-01 9.18471246e-02 -4.93437330e-01 1.17058624e+01] [-6.59988493e-02 9.95389815e-01 6.95935961e-02 7.06836369e-03] [ 4.97554464e-01 -2.76264805e-02 8.66992695e-01 1.79690748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60538475 meters Centerline goodness : 0.941769 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.64700689e-01 9.05146031e-02 -4.94064596e-01 1.17083932e+01] [-6.47685357e-02 9.95510213e-01 6.90250112e-02 7.24071127e-03] [ 4.98094123e-01 -2.76861343e-02 8.66680865e-01 1.79744158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63538475000001 meters Centerline goodness : 0.940239 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.64565643e-01 9.01527051e-02 -4.94367007e-01 1.17092742e+01] [-6.43711311e-02 9.95539657e-01 6.89720878e-02 6.93476859e-03] [ 4.98379981e-01 -2.78079340e-02 8.66512616e-01 1.79784134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66538475000002 meters Centerline goodness : 0.936831 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.80 [[ 8.64401130e-01 8.84191197e-02 -4.94967419e-01 1.17129006e+01] [-6.30409699e-02 9.95706919e-01 6.77758624e-02 8.11857572e-03] [ 4.98835166e-01 -2.73823060e-02 8.66264213e-01 1.79742780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69538475000002 meters Centerline goodness : 0.936310 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 8.64299792e-01 8.74171323e-02 -4.95322233e-01 1.17152817e+01] [-6.23000679e-02 9.95803641e-01 6.70358823e-02 9.28259221e-03] [ 4.99103768e-01 -2.70804903e-02 8.66118973e-01 1.79705523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72538475000002 meters Centerline goodness : 0.935376 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 8.64240067e-01 8.66735520e-02 -4.95557061e-01 1.17167968e+01] [-6.16494981e-02 9.95869129e-01 6.66634601e-02 9.73198992e-03] [ 4.99287938e-01 -2.70623892e-02 8.66013384e-01 1.79705633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75538475 meters Centerline goodness : 0.934037 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 8.64055319e-01 8.60456744e-02 -4.95988455e-01 1.17172891e+01] [-6.06159798e-02 9.95898313e-01 6.71733019e-02 8.24297005e-03] [ 4.99734038e-01 -2.79766226e-02 8.65726978e-01 1.79899642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78538475 meters Centerline goodness : 0.934090 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 8.63871478e-01 8.58263458e-02 -4.96346560e-01 1.17175636e+01] [-6.02133472e-02 9.95906782e-01 6.74094459e-02 7.88318641e-03] [ 5.00100412e-01 -2.83464099e-02 8.65503356e-01 1.80010302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81538475 meters Centerline goodness : 0.934098 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 8.63732631e-01 8.50975135e-02 -4.96713555e-01 1.17188404e+01] [-5.97498090e-02 9.95980201e-01 6.67337917e-02 1.03481184e-02] [ 5.00395746e-01 -2.79616134e-02 8.65345160e-01 1.80015725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84538475 meters Centerline goodness : 0.931374 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 0.86365501 0.08493645 -0.49687607 11.71945537] [-0.05976582 0.99600324 0.06637457 0.01227253] [ 0.5005278 -0.02762853 0.86527949 1.79998804] [ 0. 0. 0. 1. ]] SLAMing on 154.87538475 meters Centerline goodness : 0.931550 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.80 [[ 0.86310526 0.09001146 -0.49693787 11.72000015] [-0.06347769 0.99552037 0.07006976 0.01470181] [ 0.50101885 -0.02893311 0.86495259 1.80072859] [ 0. 0. 0. 1. ]] SLAMing on 154.90538475 meters Centerline goodness : 0.931331 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 0.86316461 0.09170483 -0.496525 11.71600999] [-0.06508301 0.99537232 0.07069754 0.01805552] [ 0.50071054 -0.02870827 0.86513859 1.80126998] [ 0. 0. 0. 1. ]] SLAMing on 154.93538475 meters Centerline goodness : 0.934945 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.80 [[ 0.86326858 0.09266588 -0.49616569 11.71323946] [-0.06588175 0.99527994 0.07125613 0.01876118] [ 0.50042678 -0.02882491 0.86529889 1.80179254] [ 0. 0. 0. 1. ]] SLAMing on 154.96538475 meters Centerline goodness : 0.939849 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.80 [[ 0.86342898 0.09373067 -0.49568635 11.71033204] [-0.06677418 0.99517649 0.07186761 0.01963959] [ 0.50003161 -0.02895353 0.86552301 1.80221627] [ 0. 0. 0. 1. ]] SLAMing on 154.99538475 meters Centerline goodness : 0.939849 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.80 [[ 0.86342898 0.09373067 -0.49568635 11.71033204] [-0.06677418 0.99517649 0.07186761 0.01963959] [ 0.50003161 -0.02895353 0.86552301 1.80221627] [ 0. 0. 0. 1. ]] SLAMing on 155.02538475 meters Centerline goodness : 0.938782 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.80 [[ 0.862949 0.09913393 -0.49547097 11.70916933] [-0.07068151 0.99460734 0.07589706 0.02251188] [ 0.50032304 -0.03047466 0.86530235 1.80346905] [ 0. 0. 0. 1. ]] SLAMing on 155.05538475 meters Centerline goodness : 0.939432 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86293303 0.09879039 -0.49556739 11.70996657] [-0.07065057 0.99465802 0.07525908 0.02528179] [ 0.50035495 -0.02993143 0.86530286 1.80298631] [ 0. 0. 0. 1. ]] SLAMing on 155.08538475 meters Centerline goodness : 0.932526 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.8629457 0.09877512 -0.49554837 11.71025325] [-0.07102195 0.99468215 0.07458759 0.02843872] [ 0.50028052 -0.02917022 0.86537189 1.8021751 ] [ 0. 0. 0. 1. ]] SLAMing on 155.11538475 meters Centerline goodness : 0.932270 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86295587 0.0988658 -0.49551258 11.71001186] [-0.07122536 0.99468024 0.07441893 0.02983707] [ 0.50023405 -0.02892719 0.8654069 1.80204083] [ 0. 0. 0. 1. ]] SLAMing on 155.14538475 meters Centerline goodness : 0.930530 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86300717 0.0989588 -0.49540466 11.7094262 ] [-0.07150805 0.99468209 0.07412241 0.03207483] [ 0.50010521 -0.02854275 0.86549413 1.80182813] [ 0. 0. 0. 1. ]] SLAMing on 155.17538475 meters Centerline goodness : 0.933660 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86306663 0.09971252 -0.49514988 11.70710674] [-0.07213338 0.9946042 0.0745604 0.03305809] [ 0.49991276 -0.02863376 0.8656023 1.80242237] [ 0. 0. 0. 1. ]] SLAMing on 155.20538475 meters Centerline goodness : 0.931749 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86307304 0.10010892 -0.49505872 11.70607898] [-0.07239805 0.99455952 0.07489913 0.03330813] [ 0.49986344 -0.02880213 0.8656252 1.80283533] [ 0. 0. 0. 1. ]] SLAMing on 155.23538475 meters Centerline goodness : 0.931201 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86315797 0.10011799 -0.4949088 11.70607042] [-0.07246238 0.99456111 0.07481576 0.0339413 ] [ 0.49970745 -0.02871556 0.86571813 1.8025259 ] [ 0. 0. 0. 1. ]] SLAMing on 155.26538475 meters Centerline goodness : 0.931730 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86313554 0.10021584 -0.49492811 11.70609968] [-0.07258161 0.99455336 0.07480326 0.03421479] [ 0.49972888 -0.02864268 0.86570817 1.8024487 ] [ 0. 0. 0. 1. ]] SLAMing on 155.29538475 meters Centerline goodness : 0.929172 Centerline is valid? [False, False] Translation: X:11.71, Y:0.03, Z:1.80 [[ 0.86310761 0.10072727 -0.49487299 11.70541273] [-0.07301392 0.99450095 0.07507884 0.0343354 ] [ 0.49971415 -0.0286685 0.86571583 1.80258637] [ 0. 0. 0. 1. ]] SLAMing on 155.32538475 meters Centerline goodness : 0.924604 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86256728 0.10683783 -0.49453349 11.70463799] [-0.07738897 0.99380883 0.07971793 0.03366375] [ 0.49998864 -0.03049064 0.86549505 1.80336916] [ 0. 0. 0. 1. ]] SLAMing on 155.35538475 meters Centerline goodness : 0.924654 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.8626263 0.10858368 -0.49405004 11.70227974] [-0.07906276 0.99362728 0.08033618 0.03365531] [ 0.4996248 -0.03023914 0.86571396 1.80276723] [ 0. 0. 0. 1. ]] SLAMing on 155.38538475000001 meters Centerline goodness : 0.922503 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86255833 0.10917476 -0.49403846 11.70169704] [-0.07957005 0.99356236 0.08063769 0.03330257] [ 0.49966162 -0.03024405 0.86569254 1.80286315] [ 0. 0. 0. 1. ]] SLAMing on 155.41538475000002 meters Centerline goodness : 0.915446 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86193021 0.1148975 -0.4938369 11.70227444] [-0.08356068 0.99285749 0.08515641 0.03165458] [ 0.50009392 -0.03213353 0.86537478 1.80345156] [ 0. 0. 0. 1. ]] SLAMing on 155.44538475000002 meters Centerline goodness : 0.918285 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86200984 0.11551688 -0.49355332 11.70149514] [-0.08416704 0.99278856 0.08536266 0.03215088] [ 0.49985492 -0.03204253 0.86551623 1.80302115] [ 0. 0. 0. 1. ]] SLAMing on 155.47538475000002 meters Centerline goodness : 0.920292 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86211132 0.11648062 -0.49314942 11.69979253] [-0.08496798 0.99267159 0.08592759 0.0318831 ] [ 0.49954432 -0.03217724 0.86569054 1.80292408] [ 0. 0. 0. 1. ]] SLAMing on 155.50538475 meters Centerline goodness : 0.914309 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86214554 0.11797118 -0.49273509 11.69767585] [-0.08609194 0.99248264 0.08698502 0.02972716] [ 0.49929274 -0.03257323 0.86582085 1.80305031] [ 0. 0. 0. 1. ]] SLAMing on 155.53538475 meters Centerline goodness : 0.911384 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86208033 0.11809856 -0.49281866 11.69809974] [-0.08620493 0.99246826 0.08703709 0.02902691] [ 0.49938583 -0.03254957 0.86576805 1.80290456] [ 0. 0. 0. 1. ]] SLAMing on 155.56538475 meters Centerline goodness : 0.912331 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86202606 0.11877911 -0.49275004 11.69783554] [-0.08669834 0.9923806 0.08754511 0.02711252] [ 0.49939411 -0.03274556 0.86575589 1.80281299] [ 0. 0. 0. 1. ]] SLAMing on 155.59538475 meters Centerline goodness : 0.912098 Centerline is valid? [False, False] Translation: X:11.70, Y:0.03, Z:1.80 [[ 0.86205075 0.11984605 -0.4924484 11.69606538] [-0.08746408 0.99224029 0.08836988 0.02557458] [ 0.49921793 -0.03310777 0.86584371 1.80310316] [ 0. 0. 0. 1. ]] SLAMing on 155.62538475 meters Centerline goodness : 0.915694 Centerline is valid? [False, False] Translation: X:11.69, Y:0.02, Z:1.80 [[ 0.86233297 0.12242598 -0.49131836 11.69103252] [-0.08953989 0.99190793 0.09000702 0.02365088] [ 0.49836178 -0.03362343 0.86631692 1.80306782] [ 0. 0. 0. 1. ]] SLAMing on 155.65538475 meters Centerline goodness : 0.918268 Centerline is valid? [False, False] Translation: X:11.69, Y:0.02, Z:1.80 [[ 0.86245129 0.12335579 -0.49087792 11.68944881] [-0.09029122 0.99178634 0.09059444 0.02303105] [ 0.49802136 -0.03381132 0.86650535 1.80289815] [ 0. 0. 0. 1. ]] SLAMing on 155.68538475 meters Centerline goodness : 0.921528 Centerline is valid? [False, False] Translation: X:11.69, Y:0.02, Z:1.80 [[ 0.86257455 0.12483905 -0.490286 11.68675388] [-0.09130815 0.9915787 0.09183956 0.02086452] [ 0.49762231 -0.03445136 0.86670937 1.8032419 ] [ 0. 0. 0. 1. ]] SLAMing on 155.71538475 meters Centerline goodness : 0.921100 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86375346 0.11504553 -0.49060625 11.68462471] [-0.08438622 0.99286462 0.08425443 0.01903729] [ 0.49679869 -0.03137465 0.86729851 1.80233335] [ 0. 0. 0. 1. ]] SLAMing on 155.74538475 meters Centerline goodness : 0.923914 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86436069 0.1096871 -0.49076403 11.68491976] [-0.08072371 0.99353037 0.07988171 0.01921837] [ 0.49635096 -0.02943032 0.86762295 1.80102278] [ 0. 0. 0. 1. ]] SLAMing on 155.77538475 meters Centerline goodness : 0.924406 Centerline is valid? [False, False] Translation: X:11.69, Y:0.02, Z:1.80 [[ 0.86426162 0.10916467 -0.49105491 11.68680022] [-0.08011253 0.99357995 0.07988036 0.01754422] [ 0.49662242 -0.02969788 0.86745847 1.80107493] [ 0. 0. 0. 1. ]] SLAMing on 155.80538475 meters Centerline goodness : 0.920661 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86433815 0.10820109 -0.49113348 11.68944088] [-0.07895778 0.99366622 0.07995697 0.01409306] [ 0.49667418 -0.03033105 0.86740693 1.8008769 ] [ 0. 0. 0. 1. ]] SLAMing on 155.83538475 meters Centerline goodness : 0.925516 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86507416 0.1033255 -0.4908875 11.68853934] [-0.07562761 0.99423578 0.0759979 0.01378249] [ 0.49591044 -0.02861917 0.86790194 1.79951869] [ 0. 0. 0. 1. ]] SLAMing on 155.86538475 meters Centerline goodness : 0.931620 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65798324e-01 9.90217704e-02 -4.90497657e-01 1.16863019e+01] [-7.24181842e-02 9.94700580e-01 7.29819387e-02 1.13907468e-02] [ 4.95125105e-01 -2.76666905e-02 8.68381071e-01 1.79917412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89538475 meters Centerline goodness : 0.930810 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65728509e-01 9.94710074e-02 -4.90529986e-01 1.16859335e+01] [-7.25559615e-02 9.94641792e-01 7.36433197e-02 9.63795147e-03] [ 4.95227000e-01 -2.81642465e-02 8.68306970e-01 1.79974494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92538475 meters Centerline goodness : 0.929796 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66234577e-01 9.51336876e-02 -4.90496931e-01 1.16843531e+01] [-6.92986931e-02 9.95093348e-01 7.06181291e-02 6.24963014e-03] [ 4.94808396e-01 -2.71810690e-02 8.68576906e-01 1.79967706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95538475 meters Centerline goodness : 0.932463 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66787485e-01 9.05150272e-02 -4.90394215e-01 1.16828935e+01] [-6.60516045e-02 9.95563657e-01 6.70088806e-02 5.32908677e-03] [ 4.94283969e-01 -2.56911344e-02 8.68920781e-01 1.79910739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98538475 meters Centerline goodness : 0.930845 Centerline is valid? [False, False] Translation: X:11.69, Y:0.00, Z:1.80 [[ 8.66662597e-01 8.93690312e-02 -4.90824937e-01 1.16862409e+01] [-6.47641749e-02 9.95653408e-01 6.69319954e-02 2.16052349e-03] [ 4.94673169e-01 -2.62195849e-02 8.68683481e-01 1.79915375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01538475 meters Centerline goodness : 0.932211 Centerline is valid? [False, False] Translation: X:11.69, Y:0.00, Z:1.80 [[ 8.66504579e-01 8.87303642e-02 -4.91219642e-01 1.16885942e+01] [-6.40456012e-02 9.95703309e-01 6.68811010e-02 8.20543418e-04] [ 4.95043408e-01 -2.64923229e-02 8.68464266e-01 1.79923745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04538475 meters Centerline goodness : 0.932856 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.00, Z:1.80 [[ 8.66392382e-01 8.83734183e-02 -4.91481821e-01 1.16899541e+01] [-6.35514239e-02 9.95726161e-01 6.70121531e-02 -5.00967833e-04] [ 4.95303400e-01 -2.68244494e-02 8.68305817e-01 1.79949207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07538475 meters Centerline goodness : 0.927586 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.00, Z:1.80 [[ 8.66219060e-01 8.74749103e-02 -4.91947844e-01 1.16919821e+01] [-6.25149129e-02 9.95793301e-01 6.69894603e-02 -1.60147810e-03] [ 4.95738264e-01 -2.72734707e-02 8.68043623e-01 1.80023339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10538475 meters Centerline goodness : 0.925178 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.00, Z:1.80 [[ 8.66177550e-01 8.77459753e-02 -4.91972658e-01 1.16923355e+01] [-6.30612002e-02 9.95786517e-01 6.65769993e-02 -5.28659505e-04] [ 4.95741603e-01 -2.66431159e-02 8.68061292e-01 1.79933774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13538475000001 meters Centerline goodness : 0.927411 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.00, Z:1.80 [[ 8.66208931e-01 8.84643093e-02 -4.91788729e-01 1.16908314e+01] [-6.36677661e-02 9.95721411e-01 6.69722937e-02 -4.46690739e-04] [ 4.95609225e-01 -2.67009092e-02 8.68135103e-01 1.79958339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16538475000002 meters Centerline goodness : 0.926903 Centerline is valid? [False, False] Translation: X:11.69, Y:0.00, Z:1.80 [[ 8.66352685e-01 8.95383693e-02 -4.91340926e-01 1.16882742e+01] [-6.48595533e-02 9.95637600e-01 6.70746465e-02 1.94835949e-03] [ 4.95203255e-01 -2.62421471e-02 8.68380727e-01 1.79923590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19538475000002 meters Centerline goodness : 0.930677 Centerline is valid? [False, False] Translation: X:11.69, Y:0.00, Z:1.80 [[ 8.66396299e-01 8.97471935e-02 -4.91225909e-01 1.16875058e+01] [-6.51180289e-02 9.95622443e-01 6.70491930e-02 2.97816304e-03] [ 4.95093016e-01 -2.61035098e-02 8.68447760e-01 1.79924207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22538475000002 meters Centerline goodness : 0.930751 Centerline is valid? [False, False] Translation: X:11.69, Y:0.00, Z:1.80 [[ 8.66429765e-01 9.02373958e-02 -4.91077055e-01 1.16859102e+01] [-6.54308675e-02 9.95571630e-01 6.74976355e-02 3.21736347e-03] [ 4.94993195e-01 -2.63503627e-02 8.68497205e-01 1.79990342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25538475 meters Centerline goodness : 0.927217 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65899707e-01 9.42169202e-02 -4.91264561e-01 1.16888655e+01] [-6.83487513e-02 9.95175341e-01 7.03881264e-02 6.52648075e-03] [ 4.95526130e-01 -2.73717388e-02 8.68161646e-01 1.79980586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28538475 meters Centerline goodness : 0.926589 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65390489e-01 9.84402938e-02 -4.91333706e-01 1.16912325e+01] [-7.13912739e-02 9.94732544e-01 7.35557809e-02 8.49655964e-03] [ 4.95986479e-01 -2.85775340e-02 8.67859860e-01 1.79984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31538475 meters Centerline goodness : 0.924880 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65377034e-01 9.86911743e-02 -4.91307075e-01 1.16905320e+01] [-7.16119189e-02 9.94707782e-01 7.36760593e-02 8.96046908e-03] [ 4.95978147e-01 -2.85741273e-02 8.67864734e-01 1.80008759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34538475 meters Centerline goodness : 0.929531 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65877404e-01 9.47498029e-02 -4.91201380e-01 1.16865286e+01] [-6.88904478e-02 9.95128932e-01 7.05160642e-02 8.90967583e-03] [ 4.95490088e-01 -2.72191836e-02 8.68187013e-01 1.80070367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37538475 meters Centerline goodness : 0.927991 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65786992e-01 9.45625360e-02 -4.91396797e-01 1.16870358e+01] [-6.87589685e-02 9.95149282e-01 7.03570302e-02 9.18334274e-03] [ 4.95666309e-01 -2.71262647e-02 8.68089325e-01 1.80082284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40538475 meters Centerline goodness : 0.925609 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65057983e-01 9.86761451e-02 -4.91871633e-01 1.16912177e+01] [-7.16095457e-02 9.94712643e-01 7.36127020e-02 9.76651375e-03] [ 4.96534750e-01 -2.84565513e-02 8.67550267e-01 1.80083516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43538475 meters Centerline goodness : 0.923312 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65137720e-01 9.85023378e-02 -4.91766219e-01 1.16919816e+01] [-7.16155905e-02 9.94738261e-01 7.32598015e-02 1.05744158e-02] [ 4.96394936e-01 -2.81616895e-02 8.67639895e-01 1.80008857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46538475 meters Centerline goodness : 0.923640 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65133519e-01 9.85595172e-02 -4.91762153e-01 1.16917203e+01] [-7.16134434e-02 9.94729650e-01 7.33787329e-02 1.05509303e-02] [ 4.96402567e-01 -2.82656203e-02 8.67632149e-01 1.80031461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49538475 meters Centerline goodness : 0.926455 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.65200612e-01 9.93409134e-02 -4.91486810e-01 1.16895611e+01] [-7.22362270e-02 9.94647613e-01 7.38786350e-02 1.09348729e-02] [ 4.96195354e-01 -2.84166874e-02 8.67745736e-01 1.80075063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52538475 meters Centerline goodness : 0.930681 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86541542 0.10070459 -0.49083065 11.68690453] [-0.07363332 0.99451977 0.07421969 0.0126534 ] [ 0.49561505 -0.02808937 0.86808796 1.80005986] [ 0. 0. 0. 1. ]] SLAMing on 156.55538475 meters Centerline goodness : 0.930884 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86552058 0.10126801 -0.49052922 11.68583815] [-0.07417676 0.9944643 0.07442147 0.01297439] [ 0.49535031 -0.02802745 0.86824105 1.7997872 ] [ 0. 0. 0. 1. ]] SLAMing on 156.58538475 meters Centerline goodness : 0.928639 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86562147 0.10181111 -0.49023868 11.68487928] [-0.07488158 0.99442068 0.07429844 0.01455088] [ 0.49506789 -0.02760447 0.86841567 1.79915444] [ 0. 0. 0. 1. ]] SLAMing on 156.61538475 meters Centerline goodness : 0.930783 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86562241 0.10214864 -0.49016682 11.68427776] [-0.0751953 0.99438695 0.0744329 0.01481006] [ 0.49501871 -0.02757254 0.86844472 1.7991815 ] [ 0. 0. 0. 1. ]] SLAMing on 156.64538475 meters Centerline goodness : 0.933527 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86564287 0.10246081 -0.49006551 11.68347267] [-0.0754655 0.99435437 0.07459449 0.01542717] [ 0.4949418 -0.02758915 0.86848803 1.79938024] [ 0. 0. 0. 1. ]] SLAMing on 156.67538475 meters Centerline goodness : 0.932536 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86566305 0.10266588 -0.48998694 11.68291797] [-0.07560972 0.994331 0.0747598 0.01538375] [ 0.49488449 -0.02766902 0.86851815 1.79951246] [ 0. 0. 0. 1. ]] SLAMing on 156.70538475 meters Centerline goodness : 0.935950 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86629931 0.09782334 -0.48985314 11.68135658] [-0.07242111 0.9948723 0.07059949 0.01676443] [ 0.4942476 -0.02568458 0.86894166 1.79850723] [ 0. 0. 0. 1. ]] SLAMing on 156.73538475 meters Centerline goodness : 0.936499 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86630467 0.09765405 -0.48987744 11.68198842] [-0.07234564 0.99489271 0.07038892 0.01718231] [ 0.49424926 -0.02553775 0.86894505 1.79818362] [ 0. 0. 0. 1. ]] SLAMing on 156.76538475 meters Centerline goodness : 0.930702 Centerline is valid? [False, False] Translation: X:11.68, Y:0.02, Z:1.80 [[ 0.86623482 0.09707672 -0.49011564 11.68389 ] [-0.07188538 0.99495222 0.07001833 0.01668002] [ 0.4944388 -0.02542016 0.86884066 1.79775208] [ 0. 0. 0. 1. ]] SLAMing on 156.79538475 meters Centerline goodness : 0.930832 Centerline is valid? [False, False] Translation: X:11.69, Y:0.02, Z:1.80 [[ 0.86610293 0.09669739 -0.49042363 11.68513676] [-0.07138982 0.99498179 0.07010512 0.01519518] [ 0.49474156 -0.02570699 0.86865985 1.79812138] [ 0. 0. 0. 1. ]] SLAMing on 156.82538475 meters Centerline goodness : 0.928837 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86605313 0.09639381 -0.49057131 11.68611734] [-0.07096481 0.99500338 0.07023011 0.01374956] [ 0.49488986 -0.0260097 0.86856636 1.79828578] [ 0. 0. 0. 1. ]] SLAMing on 156.85538475 meters Centerline goodness : 0.931962 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 0.86597337 0.09683338 -0.49062553 11.68520264] [-0.0711136 0.99494867 0.07085193 0.01270128] [ 0.49500805 -0.02646573 0.86848523 1.79915221] [ 0. 0. 0. 1. ]] SLAMing on 156.88538475000001 meters Centerline goodness : 0.936537 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86663131 0.09278127 -0.49024669 11.68238076] [-0.06842654 0.99537559 0.06741836 0.01241226] [ 0.49423475 -0.02488098 0.86897235 1.79843183] [ 0. 0. 0. 1. ]] SLAMing on 156.91538475000002 meters Centerline goodness : 0.936537 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86663131 0.09278127 -0.49024669 11.68238076] [-0.06842654 0.99537559 0.06741836 0.01241226] [ 0.49423475 -0.02488098 0.86897235 1.79843183] [ 0. 0. 0. 1. ]] SLAMing on 156.94538475000002 meters Centerline goodness : 0.936848 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86665688 0.09298335 -0.49016319 11.68225125] [-0.06853636 0.99535312 0.06763819 0.01186733] [ 0.49417469 -0.0250251 0.86900237 1.79839715] [ 0. 0. 0. 1. ]] SLAMing on 156.97538475000002 meters Centerline goodness : 0.937388 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66645497e-01 9.31784157e-02 -4.90146269e-01 1.16822067e+01] [-6.84685189e-02 9.95322715e-01 6.81524317e-02 1.04708648e-02] [ 4.94204051e-01 -2.55044090e-02 8.68971738e-01 1.79879240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00538475 meters Centerline goodness : 0.941439 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66519377e-01 9.31746335e-02 -4.90369918e-01 1.16822897e+01] [-6.81964537e-02 9.95309984e-01 6.86096212e-02 9.19317494e-03] [ 4.94462751e-01 -2.60100768e-02 8.68809567e-01 1.79970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03538475 meters Centerline goodness : 0.938323 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66372094e-01 9.31872962e-02 -4.90627682e-01 1.16826289e+01] [-6.79760566e-02 9.95297618e-01 6.90065740e-02 8.01747203e-03] [ 4.94751099e-01 -2.64344350e-02 8.68632587e-01 1.80046256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06538475 meters Centerline goodness : 0.937318 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.66324486e-01 9.24175483e-02 -4.90857292e-01 1.16850048e+01] [-6.73654780e-02 9.95373298e-01 6.85119631e-02 7.63345386e-03] [ 4.94917949e-01 -2.62867551e-02 8.68542014e-01 1.79980764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09538475 meters Centerline goodness : 0.941152 Centerline is valid? [False, False] Translation: X:11.69, Y:0.01, Z:1.80 [[ 8.66450926e-01 9.23575072e-02 -4.90645375e-01 1.16850739e+01] [-6.74741607e-02 9.95386474e-01 6.82129418e-02 8.71453888e-03] [ 4.94681747e-01 -2.59972817e-02 8.68685277e-01 1.79909777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12538475 meters Centerline goodness : 0.942202 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66389551e-01 9.26939543e-02 -4.90690307e-01 1.16843168e+01] [-6.75634550e-02 9.95344705e-01 6.87320794e-02 7.87527575e-03] [ 4.94777047e-01 -2.63960228e-02 8.68618975e-01 1.79987937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15538475 meters Centerline goodness : 0.941467 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66257758e-01 9.30925709e-02 -4.90847501e-01 1.16839324e+01] [-6.78553630e-02 9.95305346e-01 6.90138967e-02 7.58555930e-03] [ 4.94967823e-01 -2.64771881e-02 8.68507808e-01 1.80034300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18538475 meters Centerline goodness : 0.942687 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66247974e-01 9.33015106e-02 -4.90825098e-01 1.16835937e+01] [-6.80026991e-02 9.95283899e-01 6.91779844e-02 7.42617791e-03] [ 4.94964727e-01 -2.65478574e-02 8.68507415e-01 1.80049544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21538475 meters Centerline goodness : 0.943556 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66268708e-01 9.37417667e-02 -4.90704602e-01 1.16826827e+01] [-6.83780469e-02 9.95241723e-01 6.94143787e-02 7.68522102e-03] [ 4.94876720e-01 -2.65780818e-02 8.68556640e-01 1.80062073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24538475 meters Centerline goodness : 0.940767 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66140552e-01 9.35668440e-02 -4.90964142e-01 1.16830977e+01] [-6.80538420e-02 9.95249969e-01 6.96144655e-02 7.05461935e-03] [ 4.95145653e-01 -2.68839155e-02 8.68393941e-01 1.80130624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27538475 meters Centerline goodness : 0.942648 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66175508e-01 9.33740707e-02 -4.90939174e-01 1.16836221e+01] [-6.79639260e-02 9.95272122e-01 6.93852176e-02 8.00097081e-03] [ 4.95096854e-01 -2.67336224e-02 8.68426404e-01 1.80100479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30538475 meters Centerline goodness : 0.946783 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66146017e-01 9.35965349e-02 -4.90948842e-01 1.16831032e+01] [-6.80538414e-02 9.95245715e-01 6.96752568e-02 8.09998976e-03] [ 4.95136094e-01 -2.69379916e-02 8.68397716e-01 1.80146272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33538475 meters Centerline goodness : 0.947158 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66116144e-01 9.41632410e-02 -4.90893174e-01 1.16815481e+01] [-6.82850490e-02 9.95177793e-01 7.04152854e-02 7.32448562e-03] [ 4.95156517e-01 -2.74671511e-02 8.68369495e-01 1.80250929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36538475 meters Centerline goodness : 0.948331 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66200442e-01 9.42636737e-02 -4.90725131e-01 1.16812249e+01] [-6.85540781e-02 9.95177579e-01 7.01564271e-02 9.17428099e-03] [ 4.94971850e-01 -2.71283192e-02 8.68485418e-01 1.80203812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39538475 meters Centerline goodness : 0.946016 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66203855e-01 9.44191422e-02 -4.90689216e-01 1.16809239e+01] [-6.89023409e-02 9.95174312e-01 6.98609842e-02 1.10314371e-02] [ 4.94917517e-01 -2.67042183e-02 8.68529525e-01 1.80170243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42538475 meters Centerline goodness : 0.947565 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66133414e-01 9.46737226e-02 -4.90764501e-01 1.16804361e+01] [-6.91711108e-02 9.95153070e-01 6.98979557e-02 1.15989768e-02] [ 4.95003299e-01 -2.65942294e-02 8.68484013e-01 1.80192371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45538475 meters Centerline goodness : 0.946500 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86611485 0.09490592 -0.49075241 11.68013488] [-0.0694217 0.99513357 0.06992712 0.01214142] [ 0.49500069 -0.02649605 0.8684885 1.80192592] [ 0. 0. 0. 1. ]] SLAMing on 157.48538475 meters Centerline goodness : 0.944256 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86622145 0.09511793 -0.49052317 11.67985074] [-0.06974201 0.99511965 0.06980647 0.0129251 ] [ 0.49476909 -0.02625779 0.8686277 1.80132401] [ 0. 0. 0. 1. ]] SLAMing on 157.51538475 meters Centerline goodness : 0.945357 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 8.66072600e-01 9.51953157e-02 -4.90770928e-01 1.16797791e+01] [-6.95209387e-02 9.95097883e-01 7.03352115e-02 1.16648781e-02] [ 4.95060694e-01 -2.67965440e-02 8.68445079e-01 1.80236842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54538475 meters Centerline goodness : 0.945860 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86602275 0.09515304 -0.49086709 11.68024776] [-0.06947945 0.99510208 0.0703168 0.01185119] [ 0.49515372 -0.02679077 0.86839222 1.80237427] [ 0. 0. 0. 1. ]] SLAMing on 157.57538475 meters Centerline goodness : 0.943305 Centerline is valid? [False, False] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86603219 0.09477776 -0.49092304 11.68140826] [-0.06925949 0.99514377 0.06994285 0.01240913] [ 0.49516803 -0.02657168 0.86839079 1.80186918] [ 0. 0. 0. 1. ]] SLAMing on 157.60538475 meters Centerline goodness : 0.951435 Centerline is valid? [False, True] Translation: X:11.68, Y:0.01, Z:1.80 [[ 0.86673974 0.09056469 -0.49046943 11.67716048] [-0.06626138 0.99556805 0.06673595 0.01270308] [ 0.49433962 -0.02534352 0.86889933 1.80227237] [ 0. 0. 0. 1. ]] SLAMing on 157.63538475000001 meters Centerline goodness : 0.950433 Centerline is valid? [True, True] Translation: X:11.71, Y:0.02, Z:1.80 [[ 8.66947057e-01 7.31535165e-02 -4.93002397e-01 1.17130003e+01] [-6.50822315e-02 9.97316150e-01 3.35380406e-02 2.21866185e-02] [ 4.94132678e-01 3.00999050e-03 8.69381295e-01 1.79712086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66538475000002 meters Centerline goodness : 0.944608 Centerline is valid? [True, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.66092002e-01 7.62223879e-02 -4.94039261e-01 1.17190923e+01] [-6.71850431e-02 9.97088904e-01 3.60539538e-02 2.40372302e-02] [ 4.95349184e-01 1.96600797e-03 8.68691730e-01 1.79734089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69538475000002 meters Centerline goodness : 0.937950 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.65436363e-01 8.05333001e-02 -4.94504084e-01 1.17226778e+01] [-7.02073452e-02 9.96751756e-01 3.94571439e-02 2.43283841e-02] [ 4.96075428e-01 5.70171833e-04 8.68279243e-01 1.79752971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72538475000002 meters Centerline goodness : 0.928404 Centerline is valid? [False, False] Translation: X:11.73, Y:0.02, Z:1.80 [[ 8.64755675e-01 8.48126390e-02 -4.94979230e-01 1.17266956e+01] [-7.32409855e-02 9.96396646e-01 4.27724434e-02 2.45245546e-02] [ 4.96823288e-01 -7.34946541e-04 8.67851416e-01 1.79748338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75538475 meters Centerline goodness : 0.927873 Centerline is valid? [False, False] Translation: X:11.73, Y:0.02, Z:1.80 [[ 8.64608107e-01 8.52334748e-02 -4.95164696e-01 1.17261159e+01] [-7.32996667e-02 9.96360120e-01 4.35163276e-02 2.27724542e-02] [ 4.97071403e-01 -1.32916248e-03 8.67708622e-01 1.79854038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78538475 meters Centerline goodness : 0.929926 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64528062e-01 8.63818833e-02 -4.95105444e-01 1.17240331e+01] [-7.39349877e-02 9.96259982e-01 4.47176296e-02 2.12298029e-02] [ 4.97116534e-01 -2.05403077e-03 8.67681355e-01 1.79979077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81538475 meters Centerline goodness : 0.929222 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64604812e-01 8.69700993e-02 -4.94868388e-01 1.17230146e+01] [-7.44416878e-02 9.96208744e-01 4.50174885e-02 2.16181269e-02] [ 4.96907390e-01 -2.08349913e-03 8.67801074e-01 1.79971611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84538475 meters Centerline goodness : 0.935146 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64703733e-01 8.83203629e-02 -4.94456235e-01 1.17195177e+01] [-7.52735520e-02 9.96088178e-01 4.62842743e-02 2.14928366e-02] [ 4.96609854e-01 -2.80270768e-03 8.67969353e-01 1.80104968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87538475 meters Centerline goodness : 0.937882 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64689535e-01 8.87736642e-02 -4.94399883e-01 1.17184285e+01] [-7.54954454e-02 9.96046841e-01 4.68094898e-02 2.14427322e-02] [ 4.96600891e-01 -3.15073664e-03 8.67973287e-01 1.80171618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90538475 meters Centerline goodness : 0.937465 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64604012e-01 8.88864125e-02 -4.94529178e-01 1.17178106e+01] [-7.54412994e-02 9.96035825e-01 4.71300829e-02 2.17170062e-02] [ 4.96758002e-01 -3.44093500e-03 8.67882278e-01 1.80263045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93538475 meters Centerline goodness : 0.937795 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64627582e-01 8.93567499e-02 -4.94403192e-01 1.17169411e+01] [-7.58455779e-02 9.95993673e-01 4.73714155e-02 2.20239179e-02] [ 4.96655407e-01 -3.46033665e-03 8.67940916e-01 1.80273725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96538475 meters Centerline goodness : 0.940504 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.80 [[ 8.64140407e-01 9.52506664e-02 -4.94154498e-01 1.17161282e+01] [-7.98785665e-02 9.95437416e-01 5.21897106e-02 2.09018273e-02] [ 4.96870981e-01 -5.62688483e-03 8.67806180e-01 1.80403512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99538475 meters Centerline goodness : 0.940122 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.64204633e-01 9.61496184e-02 -4.93868002e-01 1.17137302e+01] [-8.02688980e-02 9.95346074e-01 5.33207082e-02 1.94457007e-02] [ 4.96696343e-01 -6.43776274e-03 8.67900512e-01 1.80520662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02538475 meters Centerline goodness : 0.943644 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.64108753e-01 9.61177210e-02 -4.94041949e-01 1.17130945e+01] [-7.98231541e-02 9.95343541e-01 5.40323890e-02 1.75704167e-02] [ 4.96934933e-01 -7.25387361e-03 8.67757485e-01 1.80669270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05538475 meters Centerline goodness : 0.945704 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.63991888e-01 9.62359811e-02 -4.94223282e-01 1.17126821e+01] [-7.95130849e-02 9.95325940e-01 5.48082393e-02 1.58048667e-02] [ 4.97187778e-01 -8.05665638e-03 8.67605558e-01 1.80803507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08538475 meters Centerline goodness : 0.944027 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.63830874e-01 9.53378636e-02 -4.94678596e-01 1.17146991e+01] [-7.86223094e-02 9.95410967e-01 5.45485028e-02 1.58449899e-02] [ 4.97609037e-01 -8.22790724e-03 8.67362409e-01 1.80847547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11538475 meters Centerline goodness : 0.947028 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.81 [[ 8.63749219e-01 9.51071581e-02 -4.94865552e-01 1.17155920e+01] [-7.83517853e-02 9.95432049e-01 5.45530392e-02 1.57864411e-02] [ 4.97793415e-01 -8.34654556e-03 8.67255471e-01 1.80866428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14538475 meters Centerline goodness : 0.941940 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.81 [[ 8.63625922e-01 9.43796513e-02 -4.95219899e-01 1.17181446e+01] [-7.78384373e-02 9.95503558e-01 5.39800329e-02 1.61231595e-02] [ 4.98087788e-01 -8.07141264e-03 8.67089043e-01 1.80808746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17538475 meters Centerline goodness : 0.938674 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.81 [[ 8.63506286e-01 9.45800310e-02 -4.95390263e-01 1.17183675e+01] [-7.80860585e-02 9.95485905e-01 5.39479426e-02 1.66379307e-02] [ 4.98256422e-01 -7.90131451e-03 8.66993718e-01 1.80812455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20538475 meters Centerline goodness : 0.939425 Centerline is valid? [False, False] Translation: X:11.72, Y:0.02, Z:1.81 [[ 8.63544416e-01 9.54013542e-02 -4.95166259e-01 1.17165215e+01] [-7.87020532e-02 9.95405798e-01 5.45278321e-02 1.66642497e-02] [ 4.98093394e-01 -8.11660367e-03 8.67085400e-01 1.80860119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23538475 meters Centerline goodness : 0.942880 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.63710850e-01 9.75093001e-02 -4.94464865e-01 1.17117821e+01] [-8.01978945e-02 9.95195196e-01 5.61677831e-02 1.57675007e-02] [ 4.97565940e-01 -8.85768259e-03 8.67380930e-01 1.80970673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26538475 meters Centerline goodness : 0.946136 Centerline is valid? [False, False] Translation: X:11.71, Y:0.02, Z:1.81 [[ 8.63725438e-01 9.81924024e-02 -4.94304178e-01 1.17105672e+01] [-8.06389814e-02 9.95125133e-01 5.67743289e-02 1.52353915e-02] [ 4.97469318e-01 -9.17724665e-03 8.67433027e-01 1.81013512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29538475 meters Centerline goodness : 0.947078 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63649255e-01 9.83404472e-02 -4.94407849e-01 1.17106518e+01] [-8.06691357e-02 9.95108819e-01 5.70169092e-02 1.46370370e-02] [ 4.97596679e-01 -9.35915727e-03 8.67358029e-01 1.81042412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32538475 meters Centerline goodness : 0.945140 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63641189e-01 9.78726334e-02 -4.94514756e-01 1.17123668e+01] [-8.03313965e-02 9.95156312e-01 5.66637613e-02 1.46618379e-02] [ 4.97665313e-01 -9.21209720e-03 8.67320226e-01 1.80980236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35538475 meters Centerline goodness : 0.945015 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63636541e-01 9.80595298e-02 -4.94485847e-01 1.17123335e+01] [-8.04599940e-02 9.95137266e-01 5.68155826e-02 1.44750958e-02] [ 4.97652603e-01 -9.28168505e-03 8.67326776e-01 1.80979026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38538475000001 meters Centerline goodness : 0.948705 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63658899e-01 9.88535271e-02 -4.94288666e-01 1.17109372e+01] [-8.10981705e-02 9.95057563e-01 5.73021294e-02 1.45929948e-02] [ 4.97510193e-01 -9.40358750e-03 8.67407160e-01 1.80999673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41538475000002 meters Centerline goodness : 0.945805 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63682778e-01 9.89198436e-02 -4.94233674e-01 1.17111261e+01] [-8.11132848e-02 9.95050101e-01 5.74101983e-02 1.42420218e-02] [ 4.97466275e-01 -9.49528275e-03 8.67431349e-01 1.80989678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44538475000002 meters Centerline goodness : 0.945269 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63503069e-01 9.86939342e-02 -4.94592719e-01 1.17119968e+01] [-8.07949951e-02 9.95070621e-01 5.75032892e-02 1.35884936e-02] [ 4.97829910e-01 -9.69365036e-03 8.67220511e-01 1.81044746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47538475000002 meters Centerline goodness : 0.943772 Centerline is valid? [False, False] Translation: X:11.71, Y:0.01, Z:1.81 [[ 8.63228223e-01 9.75580597e-02 -4.95297346e-01 1.17145918e+01] [-7.95691723e-02 9.95178698e-01 5.73420145e-02 1.20652510e-02] [ 4.98503543e-01 -1.00888454e-02 8.66828952e-01 1.81134479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50538475 meters Centerline goodness : 0.944168 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.81 [[ 8.63190110e-01 9.70575341e-02 -4.95462076e-01 1.17161556e+01] [-7.92532516e-02 9.95230179e-01 5.68842005e-02 1.25756441e-02] [ 4.98619851e-01 -9.83489880e-03 8.66764974e-01 1.81086775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53538475 meters Centerline goodness : 0.943436 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.81 [[ 8.63174423e-01 9.67411203e-02 -4.95551281e-01 1.17173891e+01] [-7.89922778e-02 9.95261343e-01 5.67016665e-02 1.21047622e-02] [ 4.98688416e-01 -9.79870383e-03 8.66725937e-01 1.81050120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56538475 meters Centerline goodness : 0.942009 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.81 [[ 8.63056292e-01 9.66189179e-02 -4.95780821e-01 1.17182498e+01] [-7.84776258e-02 9.95265165e-01 5.73455716e-02 8.41432740e-03] [ 4.98974047e-01 -1.05847546e-02 8.66552285e-01 1.81125558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59538475 meters Centerline goodness : 0.944783 Centerline is valid? [False, False] Translation: X:11.72, Y:0.01, Z:1.81 [[ 8.63704270e-01 9.26747866e-02 -4.95405205e-01 1.17151959e+01] [-7.55468970e-02 9.95649342e-01 5.45440629e-02 6.12939111e-03] [ 4.98304726e-01 -9.68361406e-03 8.66947881e-01 1.81120997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62538475 meters Centerline goodness : 0.945025 Centerline is valid? [False, False] Translation: X:11.71, Y:0.00, Z:1.81 [[ 8.63658897e-01 9.30761419e-02 -4.95409064e-01 1.17146091e+01] [-7.55323483e-02 9.95604625e-01 5.53741435e-02 4.70561668e-03] [ 4.98385567e-01 -1.04049617e-02 8.66893052e-01 1.81217497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65538475 meters Centerline goodness : 0.946153 Centerline is valid? [False, False] Translation: X:11.72, Y:0.00, Z:1.81 [[ 8.63568859e-01 9.26851732e-02 -4.95639268e-01 1.17156059e+01] [-7.48430379e-02 9.95633842e-01 5.57832681e-02 3.15660974e-03] [ 4.98645510e-01 -1.10775447e-02 8.66735221e-01 1.81300909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68538475 meters Centerline goodness : 0.945651 Centerline is valid? [False, False] Translation: X:11.72, Y:0.00, Z:1.81 [[ 8.63369395e-01 9.22585028e-02 -4.96066181e-01 1.17171691e+01] [-7.43090989e-02 9.95670370e-01 5.58450803e-02 2.22700124e-03] [ 4.99070582e-01 -1.13527023e-02 8.66486971e-01 1.81351751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71538475 meters Centerline goodness : 0.944813 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.00, Z:1.82 [[ 8.63171880e-01 9.23676936e-02 -4.96389478e-01 1.17168530e+01] [-7.37872240e-02 9.95646009e-01 5.69602496e-02 -8.60519014e-04] [ 4.99489490e-01 -1.25392841e-02 8.66229194e-01 1.81555200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74538475 meters Centerline goodness : 0.947278 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.00, Z:1.82 [[ 8.63097054e-01 9.29686814e-02 -4.96407393e-01 1.17156231e+01] [-7.40491879e-02 9.95583526e-01 5.77075445e-02 -1.79378932e-03] [ 4.99580017e-01 -1.30486473e-02 8.66169463e-01 1.81652524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77538475 meters Centerline goodness : 0.946987 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63229063e-01 9.37539456e-02 -4.96030021e-01 1.17139379e+01] [-7.45332957e-02 9.95504066e-01 5.84503473e-02 -1.89233251e-03] [ 4.99279854e-01 -1.34852863e-02 8.66335833e-01 1.81697586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80538475 meters Centerline goodness : 0.946987 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63229063e-01 9.37539456e-02 -4.96030021e-01 1.17139379e+01] [-7.45332957e-02 9.95504066e-01 5.84503473e-02 -1.89233251e-03] [ 4.99279854e-01 -1.34852863e-02 8.66335833e-01 1.81697586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83538475 meters Centerline goodness : 0.948095 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63262955e-01 9.39401377e-02 -4.95935803e-01 1.17134887e+01] [-7.46443488e-02 9.95484993e-01 5.86331860e-02 -1.75317061e-03] [ 4.99204658e-01 -1.35970524e-02 8.66377417e-01 1.81711324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86538475 meters Centerline goodness : 0.948260 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63329188e-01 9.40797228e-02 -4.95794029e-01 1.17131615e+01] [-7.47298252e-02 9.95470590e-01 5.87686743e-02 -1.66572748e-03] [ 4.99077315e-01 -1.36861107e-02 8.66449378e-01 1.81711862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89538475 meters Centerline goodness : 0.948827 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63360580e-01 9.40671672e-02 -4.95741745e-01 1.17129892e+01] [-7.46088179e-02 9.95468632e-01 5.89552973e-02 -1.47447922e-03] [ 4.99041114e-01 -1.39129741e-02 8.66466615e-01 1.81741003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92538475 meters Centerline goodness : 0.950971 Centerline is valid? [False, True] Translation: X:11.71, Y:-0.00, Z:1.82 [[ 8.63239056e-01 9.39030402e-02 -4.95984427e-01 1.17132639e+01] [-7.42946623e-02 9.95479734e-01 5.91641950e-02 -1.86773148e-03] [ 4.99298143e-01 -1.42238484e-02 8.66313481e-01 1.81819319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95538475 meters Centerline goodness : 0.950014 Centerline is valid? [True, True] Translation: X:11.74, Y:0.00, Z:1.82 [[ 8.63105657e-01 8.75937035e-02 -4.97369046e-01 1.17433164e+01] [-7.56102352e-02 9.96156123e-01 4.42274856e-02 2.68116466e-03] [ 4.99331270e-01 -5.66802391e-04 8.66410966e-01 1.82330964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98538475 meters Centerline goodness : 0.950443 Centerline is valid? [True, True] Translation: X:11.77, Y:0.00, Z:1.84 [[ 8.62779026e-01 9.06778379e-02 -4.97383033e-01 1.17666741e+01] [-7.92609221e-02 9.95879294e-01 4.40696980e-02 1.60969535e-03] [ 4.99329609e-01 1.40062668e-03 8.66410977e-01 1.84097510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01538475 meters Centerline goodness : 0.951182 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.00, Z:1.85 [[ 8.62701563e-01 9.13418457e-02 -4.97395899e-01 1.17910539e+01] [-8.01113346e-02 9.95817679e-01 4.39240679e-02 -2.05021689e-04] [ 4.99327735e-01 1.95368717e-03 8.66410986e-01 1.85361406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04538475 meters Centerline goodness : 0.949980 Centerline is valid? [True, False] Translation: X:11.79, Y:0.00, Z:1.85 [[ 8.62760659e-01 9.15787402e-02 -4.97249817e-01 1.17906424e+01] [-8.05000251e-02 9.95795168e-01 4.37233190e-02 1.06434803e-03] [ 4.99163091e-01 2.30586319e-03 8.66504986e-01 1.85315411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters Centerline goodness : 0.951690 Centerline is valid? [False, True] Translation: X:11.79, Y:0.00, Z:1.85 [[ 8.62195079e-01 9.64957327e-02 -4.97300935e-01 1.17916071e+01] [-8.38614760e-02 9.95333249e-01 4.77386179e-02 1.88184201e-03] [ 4.99586729e-01 5.44388967e-04 8.66263704e-01 1.85423514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10538475 meters Centerline goodness : 0.951415 Centerline is valid? [True, True] Translation: X:11.82, Y:0.00, Z:1.86 [[ 8.62196292e-01 9.47027733e-02 -4.97643385e-01 1.18177226e+01] [-8.40069130e-02 9.95497732e-01 4.38987993e-02 2.41575399e-03] [ 4.99560199e-01 3.95610263e-03 8.66270141e-01 1.86327518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters Centerline goodness : 0.947992 Centerline is valid? [True, False] Translation: X:11.82, Y:0.00, Z:1.86 [[ 8.62027340e-01 9.40896090e-02 -4.98052216e-01 1.18196027e+01] [-8.36776053e-02 9.95554025e-01 4.32462797e-02 4.32483946e-03] [ 4.99906915e-01 4.39634127e-03 8.66067982e-01 1.86307981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16538475000002 meters Centerline goodness : 0.946717 Centerline is valid? [False, False] Translation: X:11.82, Y:0.01, Z:1.86 [[ 8.62022453e-01 9.42442906e-02 -4.98031429e-01 1.18192910e+01] [-8.39954840e-02 9.95537716e-01 4.30048214e-02 6.18146857e-03] [ 4.99862030e-01 4.76126918e-03 8.66091959e-01 1.86291530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters Centerline goodness : 0.946703 Centerline is valid? [False, False] Translation: X:11.82, Y:0.01, Z:1.86 [[ 8.62001175e-01 9.47480845e-02 -4.97972665e-01 1.18183020e+01] [-8.43722137e-02 9.95490472e-01 4.33595446e-02 6.40108340e-03] [ 4.99835277e-01 4.63907768e-03 8.66108062e-01 1.86329747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22538475000002 meters Centerline goodness : 0.946165 Centerline is valid? [False, False] Translation: X:11.82, Y:0.01, Z:1.86 [[ 8.61984461e-01 9.52615902e-02 -4.97903624e-01 1.18173701e+01] [-8.47145770e-02 9.95442414e-01 4.37931705e-02 6.53732577e-03] [ 4.99806193e-01 4.43066249e-03 8.66125937e-01 1.86373155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters Centerline goodness : 0.946294 Centerline is valid? [False, False] Translation: X:11.82, Y:0.01, Z:1.86 [[ 8.62004044e-01 9.51682029e-02 -4.97887579e-01 1.18175446e+01] [-8.45939384e-02 9.95451704e-01 4.38151779e-02 6.76787655e-03] [ 4.99792851e-01 4.34941070e-03 8.66134048e-01 1.86380265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28538475 meters Centerline goodness : 0.946634 Centerline is valid? [False, False] Translation: X:11.82, Y:0.01, Z:1.86 [[ 8.62032162e-01 9.53588539e-02 -4.97802411e-01 1.18172594e+01] [-8.46676238e-02 9.95434271e-01 4.40682004e-02 6.76174180e-03] [ 4.99731873e-01 4.15954122e-03 8.66170164e-01 1.86396694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters Centerline goodness : 0.951302 Centerline is valid? [False, True] Translation: X:11.81, Y:0.01, Z:1.86 [[ 8.62182242e-01 9.64806769e-02 -4.97326111e-01 1.18144360e+01] [-8.52741873e-02 9.95329091e-01 4.52583002e-02 5.48298567e-03] [ 4.99369697e-01 3.38817720e-03 8.66382379e-01 1.86492470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34538475 meters Centerline goodness : 0.953424 Centerline is valid? [True, True] Translation: X:11.84, Y:0.00, Z:1.88 [[ 8.62184588e-01 9.54857439e-02 -4.97514028e-01 1.18393325e+01] [-8.53690157e-02 9.95416636e-01 4.31028014e-02 4.56993006e-03] [ 4.99349444e-01 5.30971182e-03 8.66384407e-01 1.87867213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters Centerline goodness : 0.954026 Centerline is valid? [True, True] Translation: X:11.86, Y:0.00, Z:1.89 [[ 8.62222006e-01 9.51240808e-02 -4.97518463e-01 1.18639462e+01] [-8.49810332e-02 9.95452052e-01 4.30515570e-02 2.74814755e-03] [ 4.99351015e-01 5.15963318e-03 8.66384408e-01 1.89257265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40538475 meters Centerline goodness : 0.954528 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.00, Z:1.91 [[ 8.62544564e-01 9.21296674e-02 -4.97522863e-01 1.18873783e+01] [-8.15534312e-02 9.95740921e-01 4.30006592e-02 -5.60039967e-05] [ 4.99365510e-01 3.48471172e-03 8.66384409e-01 1.90744997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters Centerline goodness : 0.950642 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.00, Z:1.92 [[ 8.62658102e-01 9.09829890e-02 -4.97537029e-01 1.19119904e+01] [-8.03245446e-02 9.95847893e-01 4.28362062e-02 -2.69349578e-03] [ 4.99368568e-01 3.01143488e-03 8.66384421e-01 1.91965334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46538475 meters Centerline goodness : 0.948595 Centerline is valid? [True, False] Translation: X:11.92, Y:-0.00, Z:1.92 [[ 8.61929560e-01 9.53165603e-02 -4.97988139e-01 1.19152691e+01] [-8.31828227e-02 9.95446169e-01 4.65568739e-02 -3.19482739e-03] [ 5.00158027e-01 1.29531329e-03 8.65933179e-01 1.92038734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters Centerline goodness : 0.945163 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.00, Z:1.92 [[ 8.61376692e-01 9.88190205e-02 -4.98261975e-01 1.19199079e+01] [-8.55542663e-02 9.95105422e-01 4.94536878e-02 -3.02201317e-03] [ 5.00710158e-01 3.01837477e-05 8.65615005e-01 1.91998921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52538475 meters Centerline goodness : 0.944305 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.00, Z:1.92 [[ 8.61352326e-01 9.91766550e-02 -4.98233040e-01 1.19194929e+01] [-8.58411468e-02 9.95069842e-01 4.96719909e-02 -3.08339336e-03] [ 5.00702974e-01 -1.61893880e-05 8.65619161e-01 1.92011045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters Centerline goodness : 0.943298 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.00, Z:1.92 [[ 8.61284191e-01 9.98885257e-02 -4.98208615e-01 1.19181219e+01] [-8.63105158e-02 9.94998587e-01 5.02822681e-02 -3.88095959e-03] [ 5.00739490e-01 -3.06680032e-04 8.65597984e-01 1.92080044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58538475 meters Centerline goodness : 0.946642 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.00, Z:1.92 [[ 8.61303277e-01 1.00508591e-01 -4.98050889e-01 1.19167139e+01] [-8.67346357e-02 9.94936041e-01 5.07875688e-02 -4.18205502e-03] [ 5.00633367e-01 -5.45236967e-04 8.65659248e-01 1.92125945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters Centerline goodness : 0.948937 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.01, Z:1.92 [[ 8.61390180e-01 1.02277712e-01 -4.97540176e-01 1.19127580e+01] [-8.78806250e-02 9.94754952e-01 5.23410058e-02 -5.47690410e-03] [ 5.00283872e-01 -1.36188674e-03 8.65860377e-01 1.92248054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64538475 meters Centerline goodness : 0.949722 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.01, Z:1.92 [[ 8.61436001e-01 1.02850983e-01 -4.97342631e-01 1.19114264e+01] [-8.81939639e-02 9.94695243e-01 5.29452461e-02 -5.91794908e-03] [ 5.00149819e-01 -1.74632300e-03 8.65937127e-01 1.92298582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters Centerline goodness : 0.953703 Centerline is valid? [False, True] Translation: X:11.91, Y:-0.01, Z:1.92 [[ 8.61478828e-01 1.02251355e-01 -4.97392089e-01 1.19130761e+01] [-8.77407549e-02 9.94757287e-01 5.25309476e-02 -5.35883084e-03] [ 5.00155765e-01 -1.61274181e-03 8.65933952e-01 1.92237575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70538475 meters Centerline goodness : 0.952302 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.01, Z:1.93 [[ 8.61609548e-01 9.77228739e-02 -4.98075523e-01 1.19415390e+01] [-8.67790277e-02 9.95204259e-01 4.51429160e-02 -5.50140864e-03] [ 5.00098377e-01 4.32694221e-03 8.65957788e-01 1.93197570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73538475 meters Centerline goodness : 0.953518 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.01, Z:1.95 [[ 8.61712608e-01 9.67422646e-02 -4.98088661e-01 1.19645764e+01] [-8.57304119e-02 9.95301722e-01 4.49975426e-02 -9.58685460e-03] [ 5.00101667e-01 3.92639630e-03 8.65957797e-01 1.94775035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76538475 meters Centerline goodness : 0.953316 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.01, Z:1.96 [[ 8.61800691e-01 9.58761252e-02 -4.98103741e-01 1.19893925e+01] [-8.48267972e-02 9.95386698e-01 4.48300732e-02 -1.28616682e-02] [ 5.00103972e-01 3.61795690e-03 8.65957809e-01 1.96259778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters Centerline goodness : 0.953461 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.01, Z:1.98 [[ 8.61794849e-01 9.58608358e-02 -4.98116791e-01 1.20144661e+01] [-8.48931814e-02 9.95387577e-01 4.46846584e-02 -1.48984125e-02] [ 5.00102775e-01 3.77771061e-03 8.65957819e-01 1.97550346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82538475 meters Centerline goodness : 0.953249 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.02, Z:1.99 [[ 8.61798222e-01 9.57531222e-02 -4.98131674e-01 1.20387524e+01] [-8.48649727e-02 9.95397441e-01 4.45182095e-02 -1.68925021e-02] [ 5.00101751e-01 3.90821712e-03 8.65957831e-01 1.98839339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters Centerline goodness : 0.954429 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.02, Z:2.00 [[ 8.61785840e-01 9.58309187e-02 -4.98138135e-01 1.20627422e+01] [-8.49966765e-02 9.95389439e-01 4.44458085e-02 -1.91420900e-02] [ 5.00100721e-01 4.03731755e-03 8.65957833e-01 2.00459624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88538475000001 meters Centerline goodness : 0.954207 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.02, Z:2.02 [[ 8.61749936e-01 9.60865756e-02 -4.98150999e-01 1.20871746e+01] [-8.53755469e-02 9.95363460e-01 4.43012146e-02 -2.14735980e-02] [ 5.00098054e-01 4.35334515e-03 8.65957842e-01 2.01805753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters Centerline goodness : 0.955597 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.02, Z:2.03 [[ 8.61742899e-01 9.61262066e-02 -4.98155527e-01 1.21112647e+01] [-8.54507828e-02 9.95359271e-01 4.42502483e-02 -2.37894403e-02] [ 5.00097331e-01 4.43544253e-03 8.65957843e-01 2.03275019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94538475000002 meters Centerline goodness : 0.952487 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.03, Z:2.04 [[ 8.61758729e-01 9.59085349e-02 -4.98170097e-01 1.21371393e+01] [-8.52944811e-02 9.95379979e-01 4.40856887e-02 -2.54246564e-02] [ 5.00096734e-01 4.49993280e-03 8.65957855e-01 2.04479818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters Centerline goodness : 0.952325 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.03, Z:2.06 [[ 8.61743734e-01 9.59776603e-02 -4.98182724e-01 1.21609587e+01] [-8.54570426e-02 9.95372364e-01 4.39425909e-02 -2.76239396e-02] [ 5.00094823e-01 4.70596993e-03 8.65957864e-01 2.05741169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00538475 meters Centerline goodness : 0.952513 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.03, Z:2.07 [[ 8.61831325e-01 9.51555020e-02 -4.98188917e-01 1.21848626e+01] [-8.45480476e-02 9.95453088e-01 4.38722776e-02 -3.00302553e-02] [ 5.00098385e-01 4.31039709e-03 8.65957866e-01 2.07427246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters Centerline goodness : 0.955656 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.03, Z:2.09 [[ 8.61937470e-01 9.41219915e-02 -4.98201615e-01 1.22085415e+01] [-8.34378933e-02 9.95553117e-01 4.37276691e-02 -3.29747094e-02] [ 5.00101906e-01 3.87837675e-03 8.65957875e-01 2.08954584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06538475 meters Centerline goodness : 0.955804 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.03, Z:2.11 [[ 8.62398072e-01 8.97788783e-02 -4.98206100e-01 1.22324455e+01] [-7.84513945e-02 9.95960713e-01 4.36765112e-02 -3.43764413e-02] [ 5.00114931e-01 1.41842428e-03 8.65957876e-01 2.10597596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters Centerline goodness : 0.954162 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.04, Z:2.12 [[ 8.62411930e-01 8.95776131e-02 -4.98218340e-01 1.22575155e+01] [-7.82998384e-02 9.95978769e-01 4.35365067e-02 -3.58316586e-02] [ 5.00114785e-01 1.46401266e-03 8.65957885e-01 2.12113706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12538475 meters Centerline goodness : 0.951283 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.04, Z:2.13 [[ 8.62514512e-01 8.85121563e-02 -4.98231186e-01 1.22841044e+01] [-7.71545590e-02 9.96074577e-01 4.33890581e-02 -3.70009957e-02] [ 5.00115877e-01 1.01711516e-03 8.65957895e-01 2.13356003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters Centerline goodness : 0.949953 Centerline is valid? [True, False] Translation: X:12.29, Y:-0.04, Z:2.13 [[ 8.62539392e-01 8.82167763e-02 -4.98240501e-01 1.22851982e+01] [-7.70046538e-02 9.96100544e-01 4.30579840e-02 -3.61855325e-02] [ 5.00096071e-01 1.22762997e-03 8.65969060e-01 2.13302077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18538475 meters Centerline goodness : 0.948174 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.13 [[ 8.62542686e-01 8.81110925e-02 -4.98253501e-01 1.22859107e+01] [-7.69325623e-02 9.96109848e-01 4.29715157e-02 -3.62566457e-02] [ 5.00101486e-01 1.26715193e-03 8.65965876e-01 2.13273587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters Centerline goodness : 0.947042 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.13 [[ 8.62514275e-01 8.84676858e-02 -4.98239495e-01 1.22854283e+01] [-7.71271517e-02 9.96078505e-01 4.33476091e-02 -3.69856843e-02] [ 5.00120514e-01 1.03986153e-03 8.65955189e-01 2.13310212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24538475 meters Centerline goodness : 0.949213 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.13 [[ 8.62563597e-01 8.93118638e-02 -4.98003445e-01 1.22836321e+01] [-7.77955392e-02 9.96003308e-01 4.38778324e-02 -3.68579325e-02] [ 4.99931890e-01 8.95025598e-04 8.66064261e-01 2.13344747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters Centerline goodness : 0.950801 Centerline is valid? [False, True] Translation: X:12.28, Y:-0.04, Z:2.13 [[ 8.62592007e-01 8.94661453e-02 -4.97926540e-01 1.22832526e+01] [-7.79923242e-02 9.95989348e-01 4.38453678e-02 -3.60790286e-02] [ 4.99852206e-01 1.01378428e-03 8.66110123e-01 2.13339114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30538475 meters Centerline goodness : 0.946777 Centerline is valid? [True, False] Translation: X:12.29, Y:-0.04, Z:2.13 [[ 8.61926999e-01 9.38562916e-02 -4.98269852e-01 1.22854694e+01] [-8.09335507e-02 9.95585549e-01 4.75307808e-02 -3.54610489e-02] [ 5.00531327e-01 -6.41314854e-04 8.65718187e-01 2.13445626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters Centerline goodness : 0.946709 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.03, Z:2.13 [[ 8.61915929e-01 9.33422987e-02 -4.98385539e-01 1.22867682e+01] [-8.07736631e-02 9.95634075e-01 4.67803828e-02 -3.32568876e-02] [ 5.00576214e-01 -6.43314346e-05 8.65692468e-01 2.13380751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36538475 meters Centerline goodness : 0.942860 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.03, Z:2.13 [[ 8.61241309e-01 9.81155976e-02 -4.98634874e-01 1.22884542e+01] [-8.41205199e-02 9.95173787e-01 5.05259569e-02 -3.22168178e-02] [ 5.01185740e-01 -1.56961640e-03 8.65338310e-01 2.13470241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters Centerline goodness : 0.942631 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.03, Z:2.13 [[ 8.61302623e-01 9.86952398e-02 -4.98414527e-01 1.22873657e+01] [-8.47155542e-02 9.95116713e-01 5.06557335e-02 -3.13794878e-02] [ 5.00980105e-01 -1.40645324e-03 8.65457657e-01 2.13454141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42538475 meters Centerline goodness : 0.942401 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.03, Z:2.13 [[ 8.61319033e-01 9.95264250e-02 -4.98220849e-01 1.22856570e+01] [-8.54177537e-02 9.95033850e-01 5.11022870e-02 -3.09624031e-02] [ 5.00832637e-01 -1.45846671e-03 8.65542918e-01 2.13486029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters Centerline goodness : 0.943128 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61432493e-01 1.00990234e-01 -4.97729879e-01 1.22821936e+01] [-8.66603041e-02 9.94886199e-01 5.18791207e-02 -3.00373114e-02] [ 5.00423872e-01 -1.55693761e-03 8.65779143e-01 2.13533482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48538475 meters Centerline goodness : 0.941129 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.13 [[ 8.61553384e-01 1.01031603e-01 -4.97512193e-01 1.22821911e+01] [-8.68762179e-02 9.94882463e-01 5.15888278e-02 -2.83214074e-02] [ 5.00178258e-01 -1.22455143e-03 8.65921596e-01 2.13470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters Centerline goodness : 0.943274 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.13 [[ 8.61558232e-01 1.01045474e-01 -4.97500979e-01 1.22825599e+01] [-8.69108285e-02 9.94881107e-01 5.15566683e-02 -2.82941727e-02] [ 5.00163893e-01 -1.18084967e-03 8.65929954e-01 2.13446593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54538475 meters Centerline goodness : 0.944160 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61501023e-01 1.01760629e-01 -4.97454280e-01 1.22815363e+01] [-8.70281367e-02 9.94806524e-01 5.27833610e-02 -3.10060345e-02] [ 5.00242031e-01 -2.18040041e-03 8.65882877e-01 2.13563174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters Centerline goodness : 0.945211 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61496494e-01 1.02386252e-01 -4.97333737e-01 1.22803537e+01] [-8.72458569e-02 9.94740677e-01 5.36576695e-02 -3.26444489e-02] [ 5.00211906e-01 -2.83558611e-03 8.65898383e-01 2.13643285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60538475 meters Centerline goodness : 0.949833 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61451806e-01 1.02988141e-01 -4.97286867e-01 1.22790875e+01] [-8.75129143e-02 9.94676967e-01 5.43987294e-02 -3.37566033e-02] [ 5.00242216e-01 -3.34286070e-03 8.65879062e-01 2.13726915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters Centerline goodness : 0.949107 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61451500e-01 1.03732193e-01 -4.97132724e-01 1.22778425e+01] [-8.79202612e-02 9.94597896e-01 5.51820047e-02 -3.49401575e-02] [ 5.00171311e-01 -3.82858183e-03 8.65918011e-01 2.13786835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66538475000002 meters Centerline goodness : 0.950790 Centerline is valid? [False, True] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.61293459e-01 1.03926653e-01 -4.97365890e-01 1.22781202e+01] [-8.79328244e-02 9.94576483e-01 5.55467093e-02 -3.52523648e-02] [ 5.00441202e-01 -4.10722993e-03 8.65760783e-01 2.13849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters Centerline goodness : 0.948161 Centerline is valid? [True, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.61241761e-01 1.03789308e-01 -4.97484080e-01 1.22787977e+01] [-8.78406217e-02 9.94591101e-01 5.54307387e-02 -3.51601462e-02] [ 5.00546357e-01 -4.03995620e-03 8.65700308e-01 2.13839591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72538475000002 meters Centerline goodness : 0.948161 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.61241761e-01 1.03789308e-01 -4.97484080e-01 1.22787977e+01] [-8.78406217e-02 9.94591101e-01 5.54307387e-02 -3.51601462e-02] [ 5.00546357e-01 -4.03995620e-03 8.65700308e-01 2.13839591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters Centerline goodness : 0.946752 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61189480e-01 1.03471785e-01 -4.97640703e-01 1.22799238e+01] [-8.75947060e-02 9.94624488e-01 5.52204259e-02 -3.49125962e-02] [ 5.00679385e-01 -3.96455889e-03 8.65623726e-01 2.13824968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78538475 meters Centerline goodness : 0.943344 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.03, Z:2.14 [[ 8.61202247e-01 1.02745669e-01 -4.97769039e-01 1.22820437e+01] [-8.70902536e-02 9.94700753e-01 5.46415505e-02 -3.42283637e-02] [ 5.00745421e-01 -3.70659421e-03 8.65586671e-01 2.13753518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters Centerline goodness : 0.939756 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.60957490e-01 1.02181322e-01 -4.98308315e-01 1.22836145e+01] [-8.62655412e-02 9.94756454e-01 5.49349971e-02 -3.56675711e-02] [ 5.01308743e-01 -4.30986071e-03 8.65257747e-01 2.13869007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84538475 meters Centerline goodness : 0.940061 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.60825685e-01 1.01957983e-01 -4.98581698e-01 1.22845980e+01] [-8.60322421e-02 9.94779168e-01 5.48895273e-02 -3.57355084e-02] [ 5.01575112e-01 -4.35621357e-03 8.65103133e-01 2.13891984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters Centerline goodness : 0.936882 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.14 [[ 8.60711436e-01 1.02030488e-01 -4.98764077e-01 1.22850756e+01] [-8.61066178e-02 9.94771937e-01 5.49039448e-02 -3.54932434e-02] [ 5.01758383e-01 -4.30956539e-03 8.64997083e-01 2.13904031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90538475 meters Centerline goodness : 0.938048 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.60587348e-01 1.02608987e-01 -4.98859511e-01 1.22841517e+01] [-8.62260086e-02 9.94708956e-01 5.58495235e-02 -3.73888343e-02] [ 5.01950686e-01 -5.04872880e-03 8.64881506e-01 2.14025330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93538475 meters Centerline goodness : 0.935199 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.04, Z:2.14 [[ 8.60439012e-01 1.02467807e-01 -4.99144324e-01 1.22847657e+01] [-8.57287901e-02 9.94719668e-01 5.64212512e-02 -3.97641664e-02] [ 5.02290038e-01 -5.75600670e-03 8.64680049e-01 2.14127469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96538475 meters Centerline goodness : 0.936800 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.14 [[ 8.60315320e-01 1.02212683e-01 -4.99409769e-01 1.22859597e+01] [-8.53466252e-02 9.94744212e-01 5.65677071e-02 -4.03322961e-02] [ 5.02566914e-01 -6.04312668e-03 8.64517193e-01 2.14162626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99538475 meters Centerline goodness : 0.934379 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.14 [[ 8.60230392e-01 1.01886473e-01 -4.99622676e-01 1.22871864e+01] [-8.49856170e-02 9.94776874e-01 5.65368573e-02 -4.05534544e-02] [ 5.02773425e-01 -6.17398149e-03 8.64396185e-01 2.14172240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02538475 meters Centerline goodness : 0.933836 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.14 [[ 8.60135510e-01 1.01547055e-01 -4.99855079e-01 1.22885080e+01] [-8.44859553e-02 9.94809147e-01 5.67175773e-02 -4.17847198e-02] [ 5.03019908e-01 -6.55406838e-03 8.64249973e-01 2.14204865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05538475 meters Centerline goodness : 0.932829 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:2.14 [[ 8.60114811e-01 1.02086015e-01 -4.99780909e-01 1.22873653e+01] [-8.46793126e-02 9.94750245e-01 5.74574923e-02 -4.29157130e-02] [ 5.03022788e-01 -7.09893633e-03 8.64243993e-01 2.14285710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08538475 meters Centerline goodness : 0.933313 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.14 [[ 8.60049324e-01 1.03096518e-01 -4.99686169e-01 1.22853227e+01] [-8.49425878e-02 9.94636636e-01 5.90145588e-02 -4.56630024e-02] [ 5.03090366e-01 -8.31079512e-03 8.64193852e-01 2.14468842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11538475 meters Centerline goodness : 0.935370 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59874823e-01 1.03374730e-01 -4.99928949e-01 1.22850835e+01] [-8.48703511e-02 9.94602719e-01 5.96862994e-02 -4.75785265e-02] [ 5.03400747e-01 -8.89360074e-03 8.64007287e-01 2.14581066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14538475 meters Centerline goodness : 0.933619 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59714732e-01 1.03272384e-01 -5.00225344e-01 1.22858097e+01] [-8.46765024e-02 9.94611832e-01 5.98096420e-02 -4.79743449e-02] [ 5.03706730e-01 -9.06189772e-03 8.63827189e-01 2.14627338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17538475 meters Centerline goodness : 0.928864 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59540251e-01 1.02311326e-01 -5.00722428e-01 1.22886378e+01] [-8.38103838e-02 9.94711060e-01 5.93778260e-02 -4.89820902e-02] [ 5.04149161e-01 -9.07189261e-03 8.63568946e-01 2.14613593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20538475 meters Centerline goodness : 0.930953 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59393809e-01 1.02064080e-01 -5.01024157e-01 1.22897147e+01] [-8.33557353e-02 9.94732386e-01 5.96598830e-02 -5.02885887e-02] [ 5.04474086e-01 -9.50809708e-03 8.63374480e-01 2.14674647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23538475 meters Centerline goodness : 0.932073 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59388409e-01 1.02426504e-01 -5.00959453e-01 1.22893756e+01] [-8.33123988e-02 9.94688106e-01 6.04534257e-02 -5.18026932e-02] [ 5.04490442e-01 -1.02168396e-02 8.63356826e-01 2.14751332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26538475 meters Centerline goodness : 0.934801 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:2.15 [[ 8.59248489e-01 1.03110189e-01 -5.01059201e-01 1.22883337e+01] [-8.34704114e-02 9.94608561e-01 6.15345496e-02 -5.31888860e-02] [ 5.04702610e-01 -1.10498511e-02 8.63222553e-01 2.14897730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29538475 meters Centerline goodness : 0.939649 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.06, Z:2.15 [[ 0.85919373 0.10524091 -0.50070999 12.28397726] [-0.08428001 0.9943603 0.06437764 -0.05667168] [ 0.50466129 -0.01311302 0.86321783 2.15217132] [ 0. 0. 0. 1. ]] SLAMing on 161.32538475 meters Centerline goodness : 0.941826 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.06, Z:2.15 [[ 0.85915765 0.1058687 -0.50063954 12.28270021] [-0.08453015 0.99428583 0.06519465 -0.05760784] [ 0.50468087 -0.01369335 0.86319737 2.15311783] [ 0. 0. 0. 1. ]] SLAMing on 161.35538475 meters Centerline goodness : 0.942082 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.06, Z:2.15 [[ 0.85915967 0.10607261 -0.50059291 12.28252247] [-0.08454747 0.99425967 0.06557012 -0.05829894] [ 0.50467453 -0.01401133 0.86319598 2.15346198] [ 0. 0. 0. 1. ]] SLAMing on 161.38538475000001 meters Centerline goodness : 0.943924 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.06, Z:2.15 [[ 0.85908719 0.10621039 -0.50068808 12.28231941] [-0.08450081 0.99424053 0.06591952 -0.05907556] [ 0.50480572 -0.01432206 0.86311417 2.15405157] [ 0. 0. 0. 1. ]] SLAMing on 161.41538475000002 meters Centerline goodness : 0.947667 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.06, Z:2.16 [[ 0.85906237 0.10728199 -0.50050216 12.28022721] [-0.08487751 0.99410903 0.06740214 -0.06093294] [ 0.50478475 -0.01542126 0.86310749 2.15569684] [ 0. 0. 0. 1. ]] SLAMing on 161.44538475000002 meters Centerline goodness : 0.950670 Centerline is valid? [False, True] Translation: X:12.28, Y:-0.06, Z:2.16 [[ 0.85922827 0.10747151 -0.50017662 12.27975252] [-0.08494076 0.9940847 0.06768067 -0.06098392] [ 0.50449167 -0.01566776 0.86327439 2.15561412] [ 0. 0. 0. 1. ]] SLAMing on 161.47538475000002 meters Centerline goodness : 0.950418 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.06, Z:2.16 [[ 8.59137320e-01 1.00539495e-01 -5.01771736e-01 1.23091081e+01] [-8.54006842e-02 9.94929146e-01 5.31292567e-02 -5.83446267e-02] [ 5.04568913e-01 -2.79367766e-03 8.63366902e-01 2.16118130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50538475 meters Centerline goodness : 0.947134 Centerline is valid? [True, False] Translation: X:12.31, Y:-0.06, Z:2.16 [[ 8.59034504e-01 1.00401009e-01 -5.01975457e-01 1.23099336e+01] [-8.53258782e-02 9.94943439e-01 5.29815770e-02 -5.80488069e-02] [ 5.04756591e-01 -2.68150601e-03 8.63257548e-01 2.16119016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53538475 meters Centerline goodness : 0.946819 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.06, Z:2.16 [[ 8.58865312e-01 1.00142312e-01 -5.02316527e-01 1.23110668e+01] [-8.50293209e-02 9.94969223e-01 5.29741370e-02 -5.84640282e-02] [ 5.05094437e-01 -2.78601554e-03 8.63059585e-01 2.16154304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56538475 meters Centerline goodness : 0.944976 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.06, Z:2.16 [[ 8.58695690e-01 9.96851578e-02 -5.02697307e-01 1.23125755e+01] [-8.46466853e-02 9.95015314e-01 5.27206222e-02 -5.83342094e-02] [ 5.05446982e-01 -2.71931032e-03 8.62853379e-01 2.16168074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59538475 meters Centerline goodness : 0.943372 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.06, Z:2.16 [[ 8.58637245e-01 9.84029770e-02 -5.03049635e-01 1.23158114e+01] [-8.39046002e-02 9.95144703e-01 5.14493696e-02 -5.66206286e-02] [ 5.05669951e-01 -1.96816640e-03 8.62724769e-01 2.16049011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62538475 meters Centerline goodness : 0.940484 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.06, Z:2.16 [[ 8.58580707e-01 9.77401639e-02 -5.03275303e-01 1.23176785e+01] [-8.35270938e-02 9.95210740e-01 5.07819666e-02 -5.51509723e-02] [ 5.05828424e-01 -1.56329333e-03 8.62632692e-01 2.15995638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65538475 meters Centerline goodness : 0.939808 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.05, Z:2.16 [[ 8.58030241e-01 1.02414239e-01 -5.03284640e-01 1.23187803e+01] [-8.66254418e-02 9.94736136e-01 5.47362140e-02 -5.40406729e-02] [ 5.06241185e-01 -3.36807267e-03 8.62385365e-01 2.16123647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68538475 meters Centerline goodness : 0.941040 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.05, Z:2.16 [[ 8.58031328e-01 1.04087281e-01 -5.02939438e-01 1.23153883e+01] [-8.81988394e-02 9.94563197e-01 5.53625537e-02 -5.11779013e-02] [ 5.05967593e-01 -3.14413086e-03 8.62546758e-01 2.16167469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71538475 meters Centerline goodness : 0.941390 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.05, Z:2.16 [[ 8.58002629e-01 1.04938645e-01 -5.02811466e-01 1.23133940e+01] [-8.89700140e-02 9.94473921e-01 5.57311081e-02 -4.98500067e-02] [ 5.05881237e-01 -3.08229410e-03 8.62597631e-01 2.16217828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74538475 meters Centerline goodness : 0.948245 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.05, Z:2.16 [[ 8.58270089e-01 1.06824325e-01 -5.01957187e-01 1.23081568e+01] [-9.04399621e-02 9.94271791e-01 5.69580416e-02 -4.81204701e-02] [ 5.05166376e-01 -3.48839441e-03 8.63014927e-01 2.16316698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77538475 meters Centerline goodness : 0.949357 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.05, Z:2.16 [[ 8.58426826e-01 1.06996251e-01 -5.01652456e-01 1.23076060e+01] [-9.08063187e-02 9.94254598e-01 5.66745657e-02 -4.58814443e-02] [ 5.04834227e-01 -3.09775476e-03 8.63210755e-01 2.16254057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80538475 meters Centerline goodness : 0.949627 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.04, Z:2.16 [[ 8.58518164e-01 1.07082926e-01 -5.01477626e-01 1.23071853e+01] [-9.08718087e-02 9.94245140e-01 5.67354937e-02 -4.49956858e-02] [ 5.04667095e-01 -3.13827301e-03 8.63308331e-01 2.16254318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83538475 meters Centerline goodness : 0.951844 Centerline is valid? [False, True] Translation: X:12.30, Y:-0.04, Z:2.16 [[ 8.59833050e-01 1.08796276e-01 -4.98849172e-01 1.23031497e+01] [-9.22659841e-02 9.94057395e-01 5.77657571e-02 -4.12262274e-02] [ 5.02169407e-01 -3.64209740e-03 8.64761598e-01 2.16052912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86538475 meters Centerline goodness : 0.951851 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.04, Z:2.17 [[ 8.59738164e-01 1.06814305e-01 -4.99440680e-01 1.23293369e+01] [-9.32168116e-02 9.94277543e-01 5.21803995e-02 -4.11205768e-02] [ 5.02156266e-01 1.69478694e-03 8.64775238e-01 2.17093057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89538475 meters Centerline goodness : 0.950482 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.04, Z:2.19 [[ 8.59607696e-01 1.07834435e-01 -4.99446036e-01 1.23545276e+01] [-9.44264116e-02 9.94166088e-01 5.21290924e-02 -4.31902447e-02] [ 5.02153623e-01 2.35032796e-03 8.64775239e-01 2.18566382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92538475 meters Centerline goodness : 0.948939 Centerline is valid? [True, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59585000e-01 1.07542640e-01 -4.99548004e-01 1.23556114e+01] [-9.45262182e-02 9.94195771e-01 5.13766814e-02 -4.13802777e-02] [ 5.02173697e-01 3.05775891e-03 8.64761371e-01 2.18477954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters Centerline goodness : 0.948389 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59659229e-01 1.07377970e-01 -4.99455685e-01 1.23561763e+01] [-9.45289680e-02 9.94212684e-01 5.10432475e-02 -4.06545385e-02] [ 5.02046097e-01 3.33323165e-03 8.64834438e-01 2.18417624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98538475 meters Centerline goodness : 0.948912 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59755628e-01 1.07478286e-01 -4.99268142e-01 1.23562973e+01] [-9.47772350e-02 9.94200799e-01 5.08138503e-02 -3.97838909e-02] [ 5.01834171e-01 3.63176015e-03 8.64956227e-01 2.18348644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters Centerline goodness : 0.949272 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59765445e-01 1.07761476e-01 -4.99190187e-01 1.23559383e+01] [-9.50206376e-02 9.94170182e-01 5.09581036e-02 -3.96813809e-02] [ 5.01771320e-01 3.62135323e-03 8.64992733e-01 2.18347270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04538475 meters Centerline goodness : 0.948964 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59865652e-01 1.07800195e-01 -4.99009197e-01 1.23560648e+01] [-9.53891925e-02 9.94163433e-01 5.03981132e-02 -3.74623533e-02] [ 5.01529623e-01 4.26447791e-03 8.65129962e-01 2.18252814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters Centerline goodness : 0.948296 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.04, Z:2.18 [[ 8.59885292e-01 1.07695862e-01 -4.98997882e-01 1.23565406e+01] [-9.54461577e-02 9.94173455e-01 5.00916357e-02 -3.60242521e-02] [ 5.01485110e-01 4.55436974e-03 8.65154288e-01 2.18217699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10538475 meters Centerline goodness : 0.946218 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.03, Z:2.18 [[ 8.59849856e-01 1.07566238e-01 -4.99086895e-01 1.23571640e+01] [-9.55930547e-02 9.94184955e-01 4.95806669e-02 -3.43984894e-02] [ 5.01517888e-01 5.07731152e-03 8.65132376e-01 2.18167658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters Centerline goodness : 0.943882 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.03, Z:2.18 [[ 8.59784153e-01 1.07765517e-01 -4.99157093e-01 1.23568930e+01] [-9.57711522e-02 9.94163269e-01 4.96717370e-02 -3.40217117e-02] [ 5.01596548e-01 5.09787765e-03 8.65086651e-01 2.18194387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16538475000002 meters Centerline goodness : 0.944145 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.03, Z:2.18 [[ 8.59786813e-01 1.08122202e-01 -4.99075371e-01 1.23562300e+01] [-9.60651487e-02 9.94124724e-01 4.98750446e-02 -3.36813078e-02] [ 5.01535765e-01 5.06184405e-03 8.65122104e-01 2.18209734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters Centerline goodness : 0.946197 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.03, Z:2.18 [[ 8.60065584e-01 1.08904952e-01 -4.98424420e-01 1.23535113e+01] [-9.64835262e-02 9.94042082e-01 5.07076783e-02 -3.40662616e-02] [ 5.00977165e-01 4.47781654e-03 8.65448918e-01 2.18266210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22538475000002 meters Centerline goodness : 0.950031 Centerline is valid? [False, True] Translation: X:12.35, Y:-0.03, Z:2.18 [[ 8.60099926e-01 1.09127622e-01 -4.98316445e-01 1.23528810e+01] [-9.64751466e-02 9.94019425e-01 5.11656989e-02 -3.44613380e-02] [ 5.00919818e-01 4.06753827e-03 8.65484137e-01 2.18318907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters Centerline goodness : 0.950880 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.04, Z:2.20 [[ 8.60377453e-01 1.06547298e-01 -4.98395738e-01 1.23775231e+01] [-9.39466069e-02 9.94301565e-01 5.03828604e-02 -3.68051020e-02] [ 5.00923820e-01 3.47431143e-03 8.65484405e-01 2.19903082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28538475 meters Centerline goodness : 0.951177 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.04, Z:2.21 [[ 8.60508356e-01 1.05417071e-01 -4.98410082e-01 1.24020296e+01] [-9.27228610e-02 9.94423628e-01 5.02406164e-02 -3.95954822e-02] [ 5.00926981e-01 2.98153855e-03 8.65484414e-01 2.21237971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters Centerline goodness : 0.950359 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.04, Z:2.22 [[ 8.60609532e-01 1.04563718e-01 -4.98415150e-01 1.24270515e+01] [-9.17658606e-02 9.94514937e-01 5.01902978e-02 -4.18364898e-02] [ 5.00929396e-01 2.54324644e-03 8.65484415e-01 2.22493784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34538475 meters Centerline goodness : 0.950665 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60696613e-01 1.03768471e-01 -4.98430983e-01 1.24506374e+01] [-9.09381927e-02 9.94598905e-01 5.00326294e-02 -4.37985889e-02] [ 5.00930719e-01 2.26349811e-03 8.65484426e-01 2.23999542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters Centerline goodness : 0.946638 Centerline is valid? [True, False] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60747435e-01 1.04149186e-01 -4.98263786e-01 1.24501006e+01] [-9.11702965e-02 9.94559567e-01 5.03909193e-02 -4.44602313e-02] [ 5.00801189e-01 2.05300261e-03 8.65559908e-01 2.24004255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40538475 meters Centerline goodness : 0.949245 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60670245e-01 1.04406090e-01 -4.98343353e-01 1.24502231e+01] [-9.13981726e-02 9.94532586e-01 5.05104978e-02 -4.47252273e-02] [ 5.00892307e-01 2.07478925e-03 8.65507130e-01 2.24003568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters Centerline goodness : 0.949356 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60559117e-01 1.04344766e-01 -4.98548068e-01 1.24507641e+01] [-9.13685006e-02 9.94538873e-01 5.04403316e-02 -4.45874431e-02] [ 5.01088618e-01 2.14470220e-03 8.65393319e-01 2.24016542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46538475 meters Centerline goodness : 0.946631 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60497168e-01 1.03999988e-01 -4.98727006e-01 1.24522206e+01] [-9.12119628e-02 9.94574294e-01 5.00235171e-02 -4.44723118e-02] [ 5.01223505e-01 2.44477432e-03 8.65314406e-01 2.23960003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters Centerline goodness : 0.946577 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:2.24 [[ 8.60446849e-01 1.03873219e-01 -4.98840230e-01 1.24527634e+01] [-9.10543059e-02 9.94587742e-01 5.00433569e-02 -4.49764304e-02] [ 5.01338542e-01 2.36190209e-03 8.65247992e-01 2.23967441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52538475 meters Centerline goodness : 0.947227 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60468975e-01 1.03920051e-01 -4.98792307e-01 1.24530787e+01] [-9.11140390e-02 9.94582771e-01 5.00334274e-02 -4.51534794e-02] [ 5.01289712e-01 2.39476976e-03 8.65276193e-01 2.23938229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters Centerline goodness : 0.947899 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60469845e-01 1.03807478e-01 -4.98814247e-01 1.24536023e+01] [-9.09501367e-02 9.94594831e-01 5.00918555e-02 -4.53456791e-02] [ 5.01317981e-01 2.26469276e-03 8.65260165e-01 2.23937124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58538475 meters Centerline goodness : 0.946234 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60444526e-01 1.03928376e-01 -4.98832747e-01 1.24536752e+01] [-9.09350715e-02 9.94582712e-01 5.03591276e-02 -4.56641746e-02] [ 5.01364169e-01 2.03015584e-03 8.65233985e-01 2.23963391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters Centerline goodness : 0.949354 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60352390e-01 1.03417826e-01 -4.99097704e-01 1.24545952e+01] [-9.01342047e-02 9.94637091e-01 5.07235889e-02 -4.80486242e-02] [ 5.01666811e-01 1.34561362e-03 8.65059882e-01 2.24052136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64538475 meters Centerline goodness : 0.949354 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60352390e-01 1.03417826e-01 -4.99097704e-01 1.24545952e+01] [-9.01342047e-02 9.94637091e-01 5.07235889e-02 -4.80486242e-02] [ 5.01666811e-01 1.34561362e-03 8.65059882e-01 2.24052136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters Centerline goodness : 0.950432 Centerline is valid? [False, True] Translation: X:12.45, Y:-0.05, Z:2.24 [[ 8.60337056e-01 1.03907657e-01 -4.99022394e-01 1.24539389e+01] [-9.04005081e-02 9.94586418e-01 5.12406605e-02 -4.91113029e-02] [ 5.01645192e-01 1.02763901e-03 8.65072855e-01 2.24083538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70538475 meters Centerline goodness : 0.952941 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.05, Z:2.25 [[ 8.60334996e-01 1.03765253e-01 -4.99055576e-01 1.24781097e+01] [-9.04243826e-02 9.94600937e-01 5.09156864e-02 -5.14758321e-02] [ 5.01644422e-01 1.32224550e-03 8.65072902e-01 2.25452269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters Centerline goodness : 0.954087 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.05, Z:2.27 [[ 8.60323654e-01 1.03834478e-01 -4.99060730e-01 1.25023200e+01] [-9.05337413e-02 9.94593576e-01 5.08651228e-02 -5.45974757e-02] [ 5.01644149e-01 1.42136673e-03 8.65072903e-01 2.26951271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76538475 meters Centerline goodness : 0.953804 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.06, Z:2.28 [[ 8.60429759e-01 1.02882010e-01 -4.99075067e-01 1.25270878e+01] [-8.95144309e-02 9.94693034e-01 5.07241104e-02 -5.66630416e-02] [ 5.01645091e-01 1.02988654e-03 8.65072911e-01 2.28380023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters Centerline goodness : 0.954452 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.06, Z:2.30 [[ 8.60458170e-01 1.02574083e-01 -4.99089466e-01 1.25509996e+01] [-8.92408328e-02 9.94724850e-01 5.05820840e-02 -5.83986785e-02] [ 5.01645105e-01 1.01539225e-03 8.65072920e-01 2.29565126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82538475 meters Centerline goodness : 0.952939 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.06, Z:2.31 [[ 8.60412039e-01 1.02926032e-01 -4.99096538e-01 1.25756676e+01] [-8.96882268e-02 9.94688161e-01 5.05122229e-02 -6.11753341e-02] [ 5.01644440e-01 1.30175880e-03 8.65072922e-01 2.30764664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters Centerline goodness : 0.951687 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.06, Z:2.32 [[ 8.60475255e-01 1.02371974e-01 -4.99101507e-01 1.26005784e+01] [-8.90762102e-02 9.94745649e-01 5.04630827e-02 -6.41727918e-02] [ 5.01645058e-01 1.03583681e-03 8.65072923e-01 2.32157532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88538475000001 meters Centerline goodness : 0.948974 Centerline is valid? [True, False] Translation: X:12.60, Y:-0.06, Z:2.32 [[ 8.60454176e-01 1.02180768e-01 -4.99177024e-01 1.26013290e+01] [-8.89898784e-02 9.94765123e-01 5.02309807e-02 -6.36304528e-02] [ 5.01696534e-01 1.20024554e-03 8.65042859e-01 2.32132907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters Centerline goodness : 0.952267 Centerline is valid? [False, True] Translation: X:12.60, Y:-0.06, Z:2.32 [[ 8.60445951e-01 1.02003459e-01 -4.99227463e-01 1.26019102e+01] [-8.90046046e-02 9.94782855e-01 4.98523071e-02 -6.23049859e-02] [ 5.01708029e-01 1.53832722e-03 8.65035657e-01 2.32093973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94538475000002 meters Centerline goodness : 0.950785 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.06, Z:2.34 [[ 8.60437691e-01 1.01877757e-01 -4.99267365e-01 1.26251796e+01] [-8.90927837e-02 9.94795048e-01 4.94498562e-02 -6.43284272e-02] [ 5.01706543e-01 1.93259925e-03 8.65035728e-01 2.33602238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters Centerline goodness : 0.950502 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.07, Z:2.35 [[ 8.60325416e-01 1.02739468e-01 -4.99284268e-01 1.26500638e+01] [-9.01884041e-02 9.94704813e-01 4.92786738e-02 -6.62524458e-02] [ 5.01703329e-01 2.63395580e-03 8.65035740e-01 2.34839220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00538475 meters Centerline goodness : 0.949340 Centerline is valid? [True, False] Translation: X:12.65, Y:-0.07, Z:2.35 [[ 8.60249437e-01 1.02623094e-01 -4.99439093e-01 1.26507681e+01] [-9.01115525e-02 9.94716654e-01 4.91801470e-02 -6.58433852e-02] [ 5.01847402e-01 2.69803824e-03 8.64951967e-01 2.34840823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters Centerline goodness : 0.948193 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.07, Z:2.35 [[ 8.60199565e-01 1.03261292e-01 -4.99393447e-01 1.26495936e+01] [-9.03708465e-02 9.94652013e-01 5.00048385e-02 -6.72263523e-02] [ 5.01886261e-01 2.11646816e-03 8.64931039e-01 2.34929481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06538475 meters Centerline goodness : 0.952326 Centerline is valid? [False, True] Translation: X:12.65, Y:-0.07, Z:2.35 [[ 8.60130736e-01 1.03617047e-01 -4.99438309e-01 1.26483686e+01] [-9.02188537e-02 9.94616527e-01 5.09757022e-02 -6.94310544e-02] [ 5.02031548e-01 1.21298346e-03 8.64848457e-01 2.35074182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters Centerline goodness : 0.951896 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.07, Z:2.37 [[ 8.60123323e-01 1.03459285e-01 -4.99483780e-01 1.26716820e+01] [-9.02971464e-02 9.94632333e-01 5.05267031e-02 -7.21828326e-02] [ 5.02030174e-01 1.64276421e-03 8.64848545e-01 2.36681604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12538475 meters Centerline goodness : 0.953400 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.07, Z:2.38 [[ 8.60208754e-01 1.02720606e-01 -4.99489115e-01 1.26963086e+01] [-8.94736130e-02 9.94709433e-01 5.04739132e-02 -7.49468581e-02] [ 5.02031245e-01 1.27299378e-03 8.64848546e-01 2.38018577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters Centerline goodness : 0.953222 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.08, Z:2.39 [[ 8.60293248e-01 1.01971556e-01 -4.99497076e-01 1.27214890e+01] [-8.86532602e-02 9.94786882e-01 5.03950199e-02 -7.77097018e-02] [ 5.02031998e-01 9.27548870e-04 8.64848549e-01 2.39401503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18538475 meters Centerline goodness : 0.952362 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.60367377e-01 1.01273873e-01 -4.99511341e-01 1.27473520e+01] [-8.79288042e-02 9.94858348e-01 5.02532805e-02 -8.02157458e-02] [ 5.02032372e-01 6.85151802e-04 8.64848558e-01 2.40780007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters Centerline goodness : 0.948237 Centerline is valid? [True, False] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.60254456e-01 1.00802505e-01 -4.99801087e-01 1.27491705e+01] [-8.76776518e-02 9.94905927e-01 4.97476298e-02 -7.96614539e-02] [ 5.02269749e-01 1.02576554e-03 8.64710383e-01 2.40731272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24538475 meters Centerline goodness : 0.948817 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.60141946e-01 1.00584754e-01 -5.00038538e-01 1.27501739e+01] [-8.75682632e-02 9.94927760e-01 4.95030399e-02 -7.88807294e-02] [ 5.02481474e-01 1.20786521e-03 8.64587132e-01 2.40728343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters Centerline goodness : 0.942802 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.59383028e-01 1.05106046e-01 -5.00413359e-01 1.27522311e+01] [-9.05317920e-02 9.94460845e-01 5.34005772e-02 -7.93674498e-02] [ 5.03254216e-01 -5.88231572e-04 8.64138211e-01 2.40865430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30538475 meters Centerline goodness : 0.943309 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.59370687e-01 1.04895403e-01 -5.00478748e-01 1.27528971e+01] [-9.05370415e-02 9.94483237e-01 5.29729598e-02 -7.79003765e-02] [ 5.03274346e-01 -2.11543668e-04 8.64126662e-01 2.40829420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters Centerline goodness : 0.942005 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.08, Z:2.41 [[ 8.59418112e-01 1.04978614e-01 -5.00379856e-01 1.27525676e+01] [-9.08825955e-02 9.94474429e-01 5.25448787e-02 -7.52769300e-02] [ 5.03131060e-01 3.17799605e-04 8.64210065e-01 2.40785974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36538475 meters Centerline goodness : 0.944235 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.41 [[ 8.59417757e-01 1.05315244e-01 -5.00309723e-01 1.27517852e+01] [-9.12306217e-02 9.94438796e-01 5.26161043e-02 -7.41074983e-02] [ 5.03068677e-01 4.24352787e-04 8.64246334e-01 2.40801301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters Centerline goodness : 0.941120 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.41 [[ 8.59436113e-01 1.06043006e-01 -5.00124433e-01 1.27497190e+01] [-9.19790462e-02 9.94361337e-01 5.27767673e-02 -7.14897715e-02] [ 5.02901006e-01 6.42708500e-04 8.64343777e-01 2.40841838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42538475 meters Centerline goodness : 0.940239 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.41 [[ 8.59488289e-01 1.06835887e-01 -4.99865956e-01 1.27476479e+01] [-9.26452769e-02 9.94276500e-01 5.32080272e-02 -7.03889440e-02] [ 5.02689500e-01 5.78543602e-04 8.64466848e-01 2.40885341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters Centerline goodness : 0.941089 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.41 [[ 8.59426309e-01 1.07521858e-01 -4.99825438e-01 1.27457572e+01] [-9.33640673e-02 9.94202377e-01 5.33365237e-02 -6.80423366e-02] [ 5.02662481e-01 8.26924149e-04 8.64482358e-01 2.40941813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48538475 meters Centerline goodness : 0.943397 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.41 [[ 8.59397094e-01 1.07936594e-01 -4.99786280e-01 1.27449114e+01] [-9.38047786e-02 9.94157290e-01 5.34036227e-02 -6.66361513e-02] [ 5.02630379e-01 9.87423223e-04 8.64500854e-01 2.40960374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters Centerline goodness : 0.939322 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.41 [[ 8.58893416e-01 1.13532448e-01 -4.99412138e-01 1.27440708e+01] [-9.77375057e-02 9.93533960e-01 5.77724095e-02 -6.58093907e-02] [ 5.02741962e-01 -8.09045530e-04 8.64436155e-01 2.41070088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54538475 meters Centerline goodness : 0.942014 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.41 [[ 8.58932976e-01 1.13676200e-01 -4.99311391e-01 1.27436535e+01] [-9.79649095e-02 9.93517660e-01 5.76674635e-02 -6.46448703e-02] [ 5.02630102e-01 -6.17490826e-04 8.64501359e-01 2.41056056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters Centerline goodness : 0.943143 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.41 [[ 8.58925037e-01 1.14860854e-01 -4.99053869e-01 1.27409937e+01] [-9.87859662e-02 9.93381041e-01 5.86126214e-02 -6.52257687e-02] [ 5.02482948e-01 -1.04432936e-03 8.64586489e-01 2.41142972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60538475 meters Centerline goodness : 0.942046 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.41 [[ 8.58850517e-01 1.14741701e-01 -4.99209507e-01 1.27409157e+01] [-9.85039724e-02 9.93394405e-01 5.88602092e-02 -6.55972196e-02] [ 5.02665651e-01 -1.37800158e-03 8.64479811e-01 2.41214958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters Centerline goodness : 0.942354 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.41 [[ 8.59291234e-01 1.08403296e-01 -4.99867284e-01 1.27421175e+01] [-9.39402125e-02 9.94106888e-01 5.40992840e-02 -6.38199680e-02] [ 5.02786050e-01 4.70598428e-04 8.64410762e-01 2.41194155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66538475000002 meters Centerline goodness : 0.938185 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.41 [[ 8.59148198e-01 1.07433242e-01 -5.00322369e-01 1.27446473e+01] [-9.32121367e-02 9.94212026e-01 5.34223207e-02 -6.26958635e-02] [ 5.03165849e-01 7.38426571e-04 8.64189553e-01 2.41177178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters Centerline goodness : 0.929515 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.06, Z:2.41 [[ 8.58391032e-01 1.09965811e-01 -5.01071209e-01 1.27507900e+01] [-9.45711769e-02 9.93935060e-01 5.61194189e-02 -6.32543139e-02] [ 5.04203460e-01 -7.85511941e-04 8.63584538e-01 2.41235386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72538475000002 meters Centerline goodness : 0.927334 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.06, Z:2.41 [[ 8.58301709e-01 1.09823049e-01 -5.01255499e-01 1.27518362e+01] [-9.45585977e-02 9.93951005e-01 5.58575895e-02 -6.26277449e-02] [ 5.04357858e-01 -5.44647487e-04 8.63494560e-01 2.41209149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters Centerline goodness : 0.925525 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.06, Z:2.41 [[ 8.58300460e-01 1.11372677e-01 -5.00915609e-01 1.27488271e+01] [-9.57498445e-02 9.93778333e-01 5.68910554e-02 -6.30126456e-02] [ 5.04135188e-01 -8.67027366e-04 8.63624317e-01 2.41276532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78538475 meters Centerline goodness : 0.926654 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.06, Z:2.41 [[ 8.58323012e-01 1.12517597e-01 -5.00621011e-01 1.27465785e+01] [-9.65810292e-02 9.93648998e-01 5.77388422e-02 -6.36294727e-02] [ 5.03938202e-01 -1.20808448e-03 8.63738866e-01 2.41327289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters Centerline goodness : 0.930858 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58148918e-01 1.13400516e-01 -5.00720238e-01 1.27446164e+01] [-9.66262905e-02 9.93545950e-01 5.94121708e-02 -6.64598425e-02] [ 5.04225936e-01 -2.60175085e-03 8.63567853e-01 2.41561545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84538475 meters Centerline goodness : 0.929053 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58098203e-01 1.13683015e-01 -5.00743094e-01 1.27440751e+01] [-9.66827673e-02 9.93512645e-01 5.98754226e-02 -6.68505443e-02] [ 5.04301415e-01 -2.96576453e-03 8.63522604e-01 2.41624119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters Centerline goodness : 0.930459 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.57912190e-01 1.13281103e-01 -5.01152738e-01 1.27446836e+01] [-9.59825931e-02 9.93556427e-01 6.02741021e-02 -6.78643000e-02] [ 5.04751441e-01 -3.60794763e-03 8.63257184e-01 2.41758867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90538475 meters Centerline goodness : 0.928724 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.42 [[ 8.57812860e-01 1.13123583e-01 -5.01358308e-01 1.27452824e+01] [-9.58071108e-02 9.93574190e-01 6.02604968e-02 -6.73397428e-02] [ 5.04953558e-01 -3.65853810e-03 8.63138760e-01 2.41791386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters Centerline goodness : 0.925807 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.07, Z:2.42 [[ 8.57789359e-01 1.12888910e-01 -5.01451403e-01 1.27464079e+01] [-9.57804553e-02 9.93602131e-01 5.98407054e-02 -6.60735174e-02] [ 5.04998535e-01 -3.30147663e-03 8.63113886e-01 2.41738574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96538475 meters Centerline goodness : 0.921776 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.06, Z:2.42 [[ 8.57796221e-01 1.13523934e-01 -5.01296279e-01 1.27452608e+01] [-9.64707938e-02 9.93530617e-01 5.99190997e-02 -6.43392097e-02] [ 5.04855453e-01 -3.03792730e-03 8.63198553e-01 2.41732117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99538475 meters Centerline goodness : 0.921704 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57815305e-01 1.14390183e-01 -5.01066650e-01 1.27434491e+01] [-9.72458363e-02 9.93431342e-01 6.03109911e-02 -6.37673559e-02] [ 5.04674300e-01 -3.00904582e-03 8.63304579e-01 2.41749356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02538475 meters Centerline goodness : 0.925799 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57814962e-01 1.15045160e-01 -5.00917260e-01 1.27421164e+01] [-9.78151348e-02 9.93355681e-01 6.06357174e-02 -6.33782725e-02] [ 5.04564852e-01 -3.01693631e-03 8.63368524e-01 2.41773160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05538475 meters Centerline goodness : 0.917408 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57822149e-01 1.15315099e-01 -5.00842878e-01 1.27419065e+01] [-9.83073631e-02 9.93325779e-01 6.03287542e-02 -6.18685601e-02] [ 5.04456958e-01 -2.51479892e-03 8.63433178e-01 2.41717666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08538475 meters Centerline goodness : 0.917104 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57775423e-01 1.14857288e-01 -5.01028071e-01 1.27431068e+01] [-9.80407224e-02 9.93379478e-01 5.98767856e-02 -6.06606691e-02] [ 5.04588288e-01 -2.23968112e-03 8.63357193e-01 2.41694929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11538475 meters Centerline goodness : 0.915298 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57853878e-01 1.14379249e-01 -5.01003106e-01 1.27441049e+01] [-9.78621290e-02 9.93435553e-01 5.92351729e-02 -5.89308598e-02] [ 5.04489572e-01 -1.78589221e-03 8.63415938e-01 2.41628730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14538475 meters Centerline goodness : 0.918544 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57896119e-01 1.14729892e-01 -5.00850577e-01 1.27435011e+01] [-9.81830092e-02 9.93395151e-01 5.93815744e-02 -5.83481118e-02] [ 5.04355376e-01 -1.76820540e-03 8.63494371e-01 2.41622578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17538475 meters Centerline goodness : 0.911633 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58041667e-01 1.15310912e-01 -5.00467672e-01 1.27424622e+01] [-9.87540402e-02 9.93328029e-01 5.95572531e-02 -5.80650767e-02] [ 5.03996168e-01 -1.67940011e-03 8.63704257e-01 2.41576726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20538475 meters Centerline goodness : 0.913861 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.57926282e-01 1.15614205e-01 -5.00595496e-01 1.27416885e+01] [-9.87096718e-02 9.93291616e-01 6.02342595e-02 -5.93043115e-02] [ 5.04201245e-01 -2.26293721e-03 8.63583223e-01 2.41687593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23538475 meters Centerline goodness : 0.916007 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58460286e-01 1.10891356e-01 -5.00748484e-01 1.27398369e+01] [-9.54110131e-02 9.93832259e-01 5.65170786e-02 -5.90312595e-02] [ 5.03927252e-01 -7.40747330e-04 8.63745782e-01 2.41683984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26538475 meters Centerline goodness : 0.916223 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58402890e-01 1.10923289e-01 -5.00839797e-01 1.27401364e+01] [-9.53703206e-02 9.93828596e-01 5.66500065e-02 -5.90487492e-02] [ 5.04032717e-01 -8.63277358e-04 8.63684129e-01 2.41704730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29538475 meters Centerline goodness : 0.916815 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58480783e-01 1.10847584e-01 -5.00723036e-01 1.27406721e+01] [-9.52818163e-02 9.93836988e-01 5.66517181e-02 -5.92436337e-02] [ 5.03916780e-01 -9.24610971e-04 8.63751714e-01 2.41667144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32538475 meters Centerline goodness : 0.916376 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58428069e-01 1.10874353e-01 -5.00807476e-01 1.27405817e+01] [-9.50167143e-02 9.93833327e-01 5.71589165e-02 -6.08026871e-02] [ 5.04056618e-01 -1.48173747e-03 8.63669341e-01 2.41737207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35538475 meters Centerline goodness : 0.916840 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58498792e-01 1.11132865e-01 -5.00628914e-01 1.27397384e+01] [-9.48329080e-02 9.93802882e-01 5.79875106e-02 -6.26077142e-02] [ 5.03970776e-01 -2.30611213e-03 8.63717627e-01 2.41823294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38538475000001 meters Centerline goodness : 0.921905 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58482782e-01 1.11398934e-01 -5.00597233e-01 1.27392390e+01] [-9.49110568e-02 9.93772348e-01 5.83816086e-02 -6.31788099e-02] [ 5.03983337e-01 -2.60739334e-03 8.63709441e-01 2.41866336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41538475000002 meters Centerline goodness : 0.919285 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58482203e-01 1.11593014e-01 -5.00554998e-01 1.27390482e+01] [-9.50126805e-02 9.93750211e-01 5.85927352e-02 -6.39063691e-02] [ 5.03965175e-01 -2.74174833e-03 8.63719622e-01 2.41873653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44538475000002 meters Centerline goodness : 0.919529 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.06, Z:2.42 [[ 8.58386762e-01 1.11829680e-01 -5.00665846e-01 1.27388573e+01] [-9.50247988e-02 9.93722541e-01 5.90406640e-02 -6.49180211e-02] [ 5.04125435e-01 -3.10405320e-03 8.63624867e-01 2.41931822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47538475000002 meters Centerline goodness : 0.920983 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58309893e-01 1.12202252e-01 -5.00714271e-01 1.27385165e+01] [-9.51578588e-02 9.93679344e-01 5.95511862e-02 -6.67033231e-02] [ 5.04231206e-01 -3.46647432e-03 8.63561738e-01 2.41975324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50538475 meters Centerline goodness : 0.920983 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58309893e-01 1.12202252e-01 -5.00714271e-01 1.27385165e+01] [-9.51578588e-02 9.93679344e-01 5.95511862e-02 -6.67033231e-02] [ 5.04231206e-01 -3.46647432e-03 8.63561738e-01 2.41975324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53538475 meters Centerline goodness : 0.922345 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58340982e-01 1.12740982e-01 -5.00539939e-01 1.27377546e+01] [-9.55617946e-02 9.93617864e-01 5.99289815e-02 -6.71472576e-02] [ 5.04101877e-01 -3.60700600e-03 8.63636664e-01 2.41975573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56538475 meters Centerline goodness : 0.923058 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58528958e-01 1.13706854e-01 -4.99998780e-01 1.27364350e+01] [-9.64786049e-02 9.93508139e-01 6.02781656e-02 -6.73376556e-02] [ 5.03606898e-01 -3.51136594e-03 8.63925785e-01 2.41891587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59538475 meters Centerline goodness : 0.922000 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58474640e-01 1.13779890e-01 -5.00075424e-01 1.27368853e+01] [-9.64513836e-02 9.93499173e-01 6.04691977e-02 -6.82197562e-02] [ 5.03704699e-01 -3.67830617e-03 8.63868072e-01 2.41896535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62538475 meters Centerline goodness : 0.919931 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58307352e-01 1.12854618e-01 -5.00571997e-01 1.27389401e+01] [-9.53216433e-02 9.93602343e-01 6.05654053e-02 -7.11457622e-02] [ 5.04204595e-01 -4.26838727e-03 8.63573684e-01 2.41974598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65538475 meters Centerline goodness : 0.920989 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58284830e-01 1.12659803e-01 -5.00654491e-01 1.27397327e+01] [-9.51117906e-02 9.93624139e-01 6.05377417e-02 -7.18084756e-02] [ 5.04282557e-01 -4.34048022e-03 8.63527801e-01 2.41963793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68538475 meters Centerline goodness : 0.918577 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.07, Z:2.42 [[ 8.58197618e-01 1.12590774e-01 -5.00819494e-01 1.27405342e+01] [-9.47362140e-02 9.93629161e-01 6.10421192e-02 -7.42167330e-02] [ 5.04501634e-01 -4.94045843e-03 8.63396603e-01 2.42012935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters Centerline goodness : 0.921081 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.58155862e-01 1.12847007e-01 -5.00833376e-01 1.27402962e+01] [-9.47723120e-02 9.93598235e-01 6.14878590e-02 -7.52974530e-02] [ 5.04565879e-01 -5.30102970e-03 8.63356921e-01 2.42056033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74538475 meters Centerline goodness : 0.924986 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.58186360e-01 1.13908520e-01 -5.00540727e-01 1.27382968e+01] [-9.52525036e-02 9.93471938e-01 6.27731520e-02 -7.72637078e-02] [ 5.04423564e-01 -6.19330538e-03 8.63434139e-01 2.42159131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77538475 meters Centerline goodness : 0.925613 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.58224264e-01 1.14450174e-01 -5.00352147e-01 1.27371202e+01] [-9.54997371e-02 9.93406730e-01 6.34260923e-02 -7.82470098e-02] [ 5.04312317e-01 -6.65031291e-03 8.63495721e-01 2.42208310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80538475 meters Centerline goodness : 0.928057 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.58231381e-01 1.15432818e-01 -5.00114147e-01 1.27351316e+01] [-9.59040279e-02 9.93286581e-01 6.46852791e-02 -8.03868400e-02] [ 5.04223476e-01 -7.55197529e-03 8.63540187e-01 2.42319390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83538475 meters Centerline goodness : 0.929341 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.42 [[ 8.58134553e-01 1.15878836e-01 -5.00177154e-01 1.27340217e+01] [-9.60013448e-02 9.93230283e-01 6.54014247e-02 -8.13671701e-02] [ 5.04369737e-01 -8.10554291e-03 8.63449749e-01 2.42428809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86538475 meters Centerline goodness : 0.933222 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.58146198e-01 1.16708443e-01 -4.99964241e-01 1.27321763e+01] [-9.63550628e-02 9.93126837e-01 6.64438642e-02 -8.29463048e-02] [ 5.04282466e-01 -8.84446355e-03 8.63493469e-01 2.42531793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89538475 meters Centerline goodness : 0.932155 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.58158220e-01 1.16921484e-01 -4.99893824e-01 1.27319443e+01] [-9.65063996e-02 9.93101125e-01 6.66083390e-02 -8.29761744e-02] [ 5.04233065e-01 -8.91754048e-03 8.63521565e-01 2.42532497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92538475 meters Centerline goodness : 0.933687 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.42 [[ 8.58235539e-01 1.16742997e-01 -4.99802793e-01 1.27328570e+01] [-9.64004057e-02 9.93122831e-01 6.64379674e-02 -8.32824392e-02] [ 5.04121732e-01 -8.83823276e-03 8.63587381e-01 2.42466382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95538475 meters Centerline goodness : 0.932167 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.42 [[ 8.58156302e-01 1.16463724e-01 -5.00003962e-01 1.27341000e+01] [-9.61595000e-02 9.93155875e-01 6.62929759e-02 -8.39406522e-02] [ 5.04302600e-01 -8.80960403e-03 8.63482066e-01 2.42448270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98538475 meters Centerline goodness : 0.931653 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.58056003e-01 1.16281015e-01 -5.00218574e-01 1.27350377e+01] [-9.59989513e-02 9.93177509e-01 6.62014845e-02 -8.41332385e-02] [ 5.04503813e-01 -8.78412268e-03 8.63364779e-01 2.42448896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01538475 meters Centerline goodness : 0.931407 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57991867e-01 1.15753982e-01 -5.00450768e-01 1.27367346e+01] [-9.56764539e-02 9.93241605e-01 6.57048678e-02 -8.38623083e-02] [ 5.04674124e-01 -8.49288739e-03 8.63268150e-01 2.42399012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04538475 meters Centerline goodness : 0.929668 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57913613e-01 1.15278735e-01 -5.00694564e-01 1.27384351e+01] [-9.53993057e-02 9.93299349e-01 6.52332410e-02 -8.40617225e-02] [ 5.04859590e-01 -8.19857170e-03 8.63162544e-01 2.42343101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07538475 meters Centerline goodness : 0.927801 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57801792e-01 1.15205528e-01 -5.00902956e-01 1.27391295e+01] [-9.52650367e-02 9.93306934e-01 6.53139109e-02 -8.45696239e-02] [ 5.05074903e-01 -8.30785127e-03 8.63035527e-01 2.42365917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10538475 meters Centerline goodness : 0.928225 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57696720e-01 1.14823824e-01 -5.01170456e-01 1.27406071e+01] [-9.49138099e-02 9.93351078e-01 6.51536927e-02 -8.49279655e-02] [ 5.05319409e-01 -8.31411120e-03 8.62892329e-01 2.42360323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13538475000001 meters Centerline goodness : 0.926495 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57581876e-01 1.14363436e-01 -5.01472163e-01 1.27422131e+01] [-9.45969380e-02 9.93405832e-01 6.47786397e-02 -8.45015392e-02] [ 5.05573679e-01 -8.11525630e-03 8.62745268e-01 2.42337176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16538475000002 meters Centerline goodness : 0.926188 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57519943e-01 1.14419194e-01 -5.01565345e-01 1.27426104e+01] [-9.46633801e-02 9.93399821e-01 6.47737554e-02 -8.40129121e-02] [ 5.05666285e-01 -8.06491607e-03 8.62691466e-01 2.42336768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19538475000002 meters Centerline goodness : 0.927564 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.42 [[ 8.57566189e-01 1.14794526e-01 -5.01400487e-01 1.27418782e+01] [-9.49512503e-02 9.93355769e-01 6.50275043e-02 -8.42093214e-02] [ 5.05533868e-01 -8.15678596e-03 8.62768205e-01 2.42339636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22538475000002 meters Centerline goodness : 0.929494 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57511791e-01 1.16171799e-01 -5.01176258e-01 1.27389229e+01] [-9.56614674e-02 9.93187284e-01 6.65424926e-02 -8.61174311e-02] [ 5.05492247e-01 -9.11771578e-03 8.62782971e-01 2.42501555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25538475 meters Centerline goodness : 0.932082 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57408678e-01 1.16871050e-01 -5.01190100e-01 1.27376591e+01] [-9.59801972e-02 9.93100037e-01 6.73804014e-02 -8.74386604e-02] [ 5.05606725e-01 -9.66821627e-03 8.62709896e-01 2.42596405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28538475 meters Centerline goodness : 0.932874 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57353748e-01 1.17543696e-01 -5.01126761e-01 1.27363316e+01] [-9.60840317e-02 9.93011057e-01 6.85339268e-02 -8.95295204e-02] [ 5.05680146e-01 -1.06075394e-02 8.62655824e-01 2.42728763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31538475 meters Centerline goodness : 0.935027 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57312679e-01 1.17880737e-01 -5.01117853e-01 1.27357588e+01] [-9.61372096e-02 9.92966030e-01 6.91093296e-02 -9.05736685e-02] [ 5.05739664e-01 -1.10722324e-02 8.62615093e-01 2.42794062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34538475 meters Centerline goodness : 0.935507 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57201438e-01 1.18042488e-01 -5.01270054e-01 1.27359441e+01] [-9.60075349e-02 9.92941082e-01 6.96459691e-02 -9.19046704e-02] [ 5.05952813e-01 -1.15749227e-02 8.62483491e-01 2.42860006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37538475 meters Centerline goodness : 0.933756 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57205795e-01 1.18144209e-01 -5.01238637e-01 1.27359261e+01] [-9.60273874e-02 9.92927374e-01 6.98138244e-02 -9.21648033e-02] [ 5.05941662e-01 -1.17121781e-02 8.62488179e-01 2.42869051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40538475 meters Centerline goodness : 0.935335 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.57126748e-01 1.18345378e-01 -5.01326350e-01 1.27355386e+01] [-9.60485029e-02 9.92900039e-01 7.01726322e-02 -9.26835588e-02] [ 5.06071559e-01 -1.19951946e-02 8.62408078e-01 2.42934382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43538475 meters Centerline goodness : 0.935058 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 8.57108365e-01 1.19019499e-01 -5.01198174e-01 1.27340030e+01] [-9.65171231e-02 9.92816586e-01 7.07083567e-02 -9.28849464e-02] [ 5.06013533e-01 -1.22305182e-02 8.62438820e-01 2.42989396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46538475 meters Centerline goodness : 0.938067 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 8.57188929e-01 1.19714584e-01 -5.00894757e-01 1.27322554e+01] [-9.71406182e-02 9.92733070e-01 7.10264242e-02 -9.17810409e-02] [ 5.05757689e-01 -1.22258381e-02 8.62588946e-01 2.43003674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49538475 meters Centerline goodness : 0.937432 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 0.85651978 0.12364658 -0.50108422 12.73550002] [-0.09989822 0.99223589 0.07408291 -0.0898805 ] [ 0.50635384 -0.01339606 0.86222174 2.43024394] [ 0. 0. 0. 1. ]] SLAMing on 165.52538475 meters Centerline goodness : 0.934742 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.56547447e-01 1.23024328e-01 -5.01190069e-01 1.27371670e+01] [-9.97319112e-02 9.92322909e-01 7.31354180e-02 -8.76217111e-02] [ 5.06339823e-01 -1.26593122e-02 8.62241106e-01 2.42919594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55538475 meters Centerline goodness : 0.935019 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.09, Z:2.43 [[ 8.56577697e-01 1.22631148e-01 -5.01234726e-01 1.27380786e+01] [-9.97157495e-02 9.92379486e-01 7.23859436e-02 -8.52794937e-02] [ 5.06291831e-01 -1.20231885e-02 8.62278392e-01 2.42844848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58538475 meters Centerline goodness : 0.936498 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.08, Z:2.43 [[ 8.56674676e-01 1.23949903e-01 -5.00744367e-01 1.27352622e+01] [-1.01089455e-01 9.92220352e-01 7.26615073e-02 -8.33296800e-02] [ 5.05855139e-01 -1.16272981e-02 8.62540077e-01 2.42812836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61538475 meters Centerline goodness : 0.936996 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.56819088e-01 1.25023354e-01 -5.00230159e-01 1.27326746e+01] [-1.02025904e-01 9.92085030e-01 7.31984169e-02 -8.30818257e-02] [ 5.05422363e-01 -1.16813666e-02 8.62793011e-01 2.42818521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64538475 meters Centerline goodness : 0.940587 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.57005806e-01 1.26496953e-01 -4.99539357e-01 1.27291431e+01] [-1.03367320e-01 9.91898643e-01 7.38395515e-02 -8.19698657e-02] [ 5.04832889e-01 -1.16448796e-02 8.63138547e-01 2.42815011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67538475 meters Centerline goodness : 0.941370 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.57031189e-01 1.26942618e-01 -4.99382732e-01 1.27279068e+01] [-1.03589191e-01 9.91837636e-01 7.43463799e-02 -8.22465958e-02] [ 5.04744312e-01 -1.19865131e-02 8.63185671e-01 2.42872529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70538475 meters Centerline goodness : 0.942746 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.57059025e-01 1.27275793e-01 -4.99250137e-01 1.27272352e+01] [-1.03847847e-01 9.91794017e-01 7.45671012e-02 -8.16085157e-02] [ 5.04643886e-01 -1.20623552e-02 8.63243331e-01 2.42886528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73538475 meters Centerline goodness : 0.942167 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.57087217e-01 1.27459722e-01 -4.99154807e-01 1.27270737e+01] [-1.03966400e-01 9.91769257e-01 7.47310469e-02 -8.18052905e-02] [ 5.04571591e-01 -1.21556964e-02 8.63284281e-01 2.42882661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76538475 meters Centerline goodness : 0.942679 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 8.57036157e-01 1.27173015e-01 -4.99315581e-01 1.27277028e+01] [-1.03595150e-01 9.91803355e-01 7.47940467e-02 -8.22520256e-02] [ 5.04734653e-01 -1.23745297e-02 8.63185844e-01 2.42917121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79538475 meters Centerline goodness : 0.944629 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 0.85684622 0.12667613 -0.49976765 12.72868174] [-0.10283631 0.99185959 0.07509495 -0.08351634] [ 0.50521208 -0.01295056 0.86289805 2.43035444] [ 0. 0. 0. 1. ]] SLAMing on 165.82538475 meters Centerline goodness : 0.944032 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.85666287 0.12602433 -0.50024653 12.73010718] [-0.10197725 0.99193587 0.07525874 -0.08515535] [ 0.50569691 -0.0134576 0.86260624 2.43131149] [ 0. 0. 0. 1. ]] SLAMing on 165.85538475 meters Centerline goodness : 0.942594 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.85661514 0.12570886 -0.50040761 12.73125877] [-0.10174738 0.99197734 0.07502282 -0.08526762] [ 0.50582405 -0.01335052 0.86253336 2.43105364] [ 0. 0. 0. 1. ]] SLAMing on 165.88538475000001 meters Centerline goodness : 0.940384 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.85592783 0.13080595 -0.50027728 12.7329397 ] [-0.10531985 0.9912956 0.07899855 -0.08563189] [ 0.50625614 -0.01492793 0.86225395 2.43136413] [ 0. 0. 0. 1. ]] SLAMing on 165.91538475000002 meters Centerline goodness : 0.938491 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 0.85606138 0.13226498 -0.49966477 12.73045507] [-0.10681323 0.99110744 0.07935345 -0.084642 ] [ 0.50571716 -0.01456062 0.86257646 2.43057196] [ 0. 0. 0. 1. ]] SLAMing on 165.94538475000002 meters Centerline goodness : 0.940974 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.85602734 0.13303012 -0.49951994 12.72875645] [-0.10731665 0.99100022 0.08001062 -0.08513402] [ 0.5056682 -0.01488447 0.86259963 2.43124561] [ 0. 0. 0. 1. ]] SLAMing on 165.97538475000002 meters Centerline goodness : 0.940561 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 0.85605082 0.13377491 -0.49928075 12.7272291 ] [-0.10794563 0.99089904 0.08041665 -0.08467797] [ 0.50549454 -0.01494556 0.86270035 2.43144227] [ 0. 0. 0. 1. ]] SLAMing on 166.00538475 meters Centerline goodness : 0.942808 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.08, Z:2.43 [[ 0.85605526 0.1339957 -0.49921393 12.72693628] [-0.10805703 0.99086671 0.080665 -0.08486922] [ 0.50546322 -0.01511012 0.86271584 2.43161963] [ 0. 0. 0. 1. ]] SLAMing on 166.03538475 meters Centerline goodness : 0.943104 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.8559921 0.13431091 -0.49923752 12.72654908] [-0.10815182 0.99081881 0.08112504 -0.08569393] [ 0.5055499 -0.01544895 0.86265904 2.43211566] [ 0. 0. 0. 1. ]] SLAMing on 166.06538475 meters Centerline goodness : 0.946899 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.85609021 0.13400213 -0.49915226 12.72742547] [-0.10786373 0.99085964 0.0810098 -0.08585079] [ 0.50544532 -0.01551128 0.86271921 2.43168926] [ 0. 0. 0. 1. ]] SLAMing on 166.09538475 meters Centerline goodness : 0.950214 Centerline is valid? [False, True] Translation: X:12.73, Y:-0.09, Z:2.43 [[ 0.8560258 0.13375326 -0.49932944 12.72799351] [-0.1073048 0.99088296 0.08146556 -0.08771203] [ 0.50567332 -0.01615618 0.86257375 2.43252761] [ 0. 0. 0. 1. ]] SLAMing on 166.12538475 meters Centerline goodness : 0.950245 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.08, Z:2.43 [[ 8.56237114e-01 1.20898889e-01 -5.02236461e-01 1.27605172e+01] [-1.06545191e-01 9.92654896e-01 5.73095120e-02 -8.31721987e-02] [ 5.05476138e-01 4.44034866e-03 8.62829159e-01 2.43403305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15538475 meters Centerline goodness : 0.950347 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.56204121e-01 1.21054883e-01 -5.02255132e-01 1.27841809e+01] [-1.06822260e-01 9.92634576e-01 5.71454664e-02 -8.89022694e-02] [ 5.05473548e-01 4.72384431e-03 8.62829171e-01 2.44879382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18538475 meters Centerline goodness : 0.949250 Centerline is valid? [True, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.56194268e-01 1.21535371e-01 -5.02155881e-01 1.27835515e+01] [-1.07087766e-01 9.92577252e-01 5.76420875e-02 -8.99349737e-02] [ 5.05434057e-01 4.42192635e-03 8.62853905e-01 2.44903473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21538475 meters Centerline goodness : 0.948344 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.09, Z:2.45 [[ 8.56195078e-01 1.21087110e-01 -5.02262781e-01 1.27854820e+01] [-1.06712131e-01 9.92631891e-01 5.73972973e-02 -9.07590879e-02] [ 5.05512127e-01 4.45424828e-03 8.62808003e-01 2.44835126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24538475 meters Centerline goodness : 0.945114 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.09, Z:2.45 [[ 8.56093291e-01 1.20650759e-01 -5.02541214e-01 1.27872884e+01] [-1.06319253e-01 9.92685019e-01 5.72072518e-02 -9.13053035e-02] [ 5.05767233e-01 4.45506225e-03 8.62658483e-01 2.44816061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters Centerline goodness : 0.944026 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.09, Z:2.45 [[ 8.55892925e-01 1.19842213e-01 -5.03075684e-01 1.27895996e+01] [-1.05334637e-01 9.92785073e-01 5.72923528e-02 -9.33917553e-02] [ 5.06312072e-01 3.95517527e-03 8.62341256e-01 2.44879270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30538475 meters Centerline goodness : 0.942868 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.09, Z:2.45 [[ 8.55762451e-01 1.19668757e-01 -5.03338868e-01 1.27905569e+01] [-1.05042174e-01 9.92806949e-01 5.74500144e-02 -9.43579637e-02] [ 5.06593297e-01 3.70824359e-03 8.62177175e-01 2.44916404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters Centerline goodness : 0.941000 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55572878e-01 1.19549703e-01 -5.03689307e-01 1.27915404e+01] [-1.04670041e-01 9.92822977e-01 5.78508282e-02 -9.63392149e-02] [ 5.06990367e-01 3.22558068e-03 8.61945685e-01 2.44984331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36538475 meters Centerline goodness : 0.941964 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55448611e-01 1.19861229e-01 -5.03826319e-01 1.27912984e+01] [-1.04625390e-01 9.92787163e-01 5.85420886e-02 -9.77252645e-02] [ 5.07209229e-01 2.63327668e-03 8.61818928e-01 2.45077883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters Centerline goodness : 0.941110 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55402552e-01 1.19851085e-01 -5.03906928e-01 1.27916034e+01] [-1.04551134e-01 9.92788693e-01 5.86487177e-02 -9.77227698e-02] [ 5.07302212e-01 2.51577802e-03 8.61764548e-01 2.45095534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42538475 meters Centerline goodness : 0.941582 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55383562e-01 1.19715869e-01 -5.03971302e-01 1.27921782e+01] [-1.04460985e-01 9.92804855e-01 5.85356477e-02 -9.72457293e-02] [ 5.07352802e-01 2.57490757e-03 8.61734591e-01 2.45087976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters Centerline goodness : 0.941582 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55383562e-01 1.19715869e-01 -5.03971302e-01 1.27921782e+01] [-1.04460985e-01 9.92804855e-01 5.85356477e-02 -9.72457293e-02] [ 5.07352802e-01 2.57490757e-03 8.61734591e-01 2.45087976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48538475 meters Centerline goodness : 0.940299 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55425066e-01 1.20222881e-01 -5.03780125e-01 1.27909885e+01] [-1.04942478e-01 9.92743414e-01 5.87161855e-02 -9.62730281e-02] [ 5.07183431e-01 2.64063781e-03 8.61834088e-01 2.45098644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters Centerline goodness : 0.941977 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55469539e-01 1.21300038e-01 -5.03446292e-01 1.27884280e+01] [-1.05673874e-01 9.92613408e-01 5.95957577e-02 -9.67455186e-02] [ 5.06956508e-01 2.21876489e-03 8.61968779e-01 2.45171645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54538475 meters Centerline goodness : 0.944507 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55583185e-01 1.22523942e-01 -5.02956556e-01 1.27854483e+01] [-1.06749601e-01 9.92463114e-01 6.01788133e-02 -9.55367368e-02] [ 5.06539175e-01 2.20243117e-03 8.62214134e-01 2.45198162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters Centerline goodness : 0.947089 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55813536e-01 1.22983109e-01 -5.02452333e-01 1.27842694e+01] [-1.07313741e-01 9.92405699e-01 6.01222922e-02 -9.40180611e-02] [ 5.06030585e-01 2.46656783e-03 8.62512007e-01 2.45129085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60538475 meters Centerline goodness : 0.946354 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55826978e-01 1.22992898e-01 -5.02427041e-01 1.27843303e+01] [-1.07357292e-01 9.92404321e-01 6.00672610e-02 -9.34671948e-02] [ 5.05998613e-01 2.53202433e-03 8.62530575e-01 2.45121268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters Centerline goodness : 0.947042 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55818949e-01 1.23304706e-01 -5.02364287e-01 1.27839291e+01] [-1.07579603e-01 9.92365871e-01 6.03042861e-02 -9.33955050e-02] [ 5.05964975e-01 2.43459978e-03 8.62550588e-01 2.45134244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66538475000002 meters Centerline goodness : 0.946626 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55788948e-01 1.23487035e-01 -5.02370610e-01 1.27837704e+01] [-1.07635003e-01 9.92343664e-01 6.05702833e-02 -9.39472153e-02] [ 5.06003936e-01 2.23728315e-03 8.62528267e-01 2.45159139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters Centerline goodness : 0.944600 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.45 [[ 8.55560948e-01 1.23487922e-01 -5.02758588e-01 1.27839092e+01] [-1.07318438e-01 9.92344671e-01 6.11130613e-02 -9.58290066e-02] [ 5.06456531e-01 1.66931789e-03 8.62263878e-01 2.45283049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72538475000002 meters Centerline goodness : 0.943859 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.45 [[ 8.55516736e-01 1.23289810e-01 -5.02882429e-01 1.27847965e+01] [-1.07207026e-01 9.92369074e-01 6.09120293e-02 -9.58691618e-02] [ 5.06554802e-01 1.80126933e-03 8.62205885e-01 2.45258598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters Centerline goodness : 0.936850 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55426282e-01 1.22514857e-01 -5.03225581e-01 1.27873365e+01] [-1.06685323e-01 9.92464396e-01 6.02715875e-02 -9.54255755e-02] [ 5.06817637e-01 2.12888361e-03 8.62050666e-01 2.45196842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78538475 meters Centerline goodness : 0.937069 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55392727e-01 1.22244695e-01 -5.03348306e-01 1.27883923e+01] [-1.06506087e-01 9.92497445e-01 6.00439394e-02 -9.50619644e-02] [ 5.06911961e-01 2.24850941e-03 8.61994900e-01 2.45173622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters Centerline goodness : 0.935230 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.09, Z:2.45 [[ 8.55399686e-01 1.21929187e-01 -5.03413001e-01 1.27891864e+01] [-1.06307041e-01 9.92535906e-01 5.97602509e-02 -9.44529734e-02] [ 5.06941998e-01 2.39744658e-03 8.61976834e-01 2.45149567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84538475 meters Centerline goodness : 0.935114 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55267063e-01 1.22233956e-01 -5.03564406e-01 1.27885808e+01] [-1.06297585e-01 9.92499519e-01 6.03782132e-02 -9.50813260e-02] [ 5.07167698e-01 1.88818318e-03 8.61845323e-01 2.45258854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters Centerline goodness : 0.934051 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55084309e-01 1.22383944e-01 -5.03838262e-01 1.27880884e+01] [-1.06159743e-01 9.92481837e-01 6.09090516e-02 -9.60604305e-02] [ 5.07504614e-01 1.40496614e-03 8.61647894e-01 2.45382234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90538475 meters Centerline goodness : 0.937913 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.10, Z:2.45 [[ 8.55020771e-01 1.23493299e-01 -5.03675378e-01 1.27854505e+01] [-1.06902620e-01 9.92344927e-01 6.18334537e-02 -9.62018722e-02] [ 5.07455723e-01 9.75330237e-04 8.61677282e-01 2.45497466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters Centerline goodness : 0.938047 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55163504e-01 1.24625733e-01 -5.03153861e-01 1.27826181e+01] [-1.07879907e-01 9.92203402e-01 6.24046025e-02 -9.45884576e-02] [ 5.07008192e-01 9.14053129e-04 8.61940751e-01 2.45522594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96538475 meters Centerline goodness : 0.940012 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55252039e-01 1.25110174e-01 -5.02883081e-01 1.27813164e+01] [-1.08293955e-01 9.92142471e-01 6.26557005e-02 -9.38820469e-02] [ 5.06770528e-01 8.72781961e-04 8.62080547e-01 2.45529772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters Centerline goodness : 0.943829 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55353503e-01 1.25764171e-01 -5.02547269e-01 1.27795876e+01] [-1.08920946e-01 9.92059707e-01 6.28789679e-02 -9.21146960e-02] [ 5.06464818e-01 9.54178633e-04 8.62260099e-01 2.45536235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02538475 meters Centerline goodness : 0.943129 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55378741e-01 1.25840910e-01 -5.02485099e-01 1.27795792e+01] [-1.09084508e-01 9.92049784e-01 6.27518665e-02 -9.10764988e-02] [ 5.06386986e-01 1.13672733e-03 8.62305589e-01 2.45515119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters Centerline goodness : 0.940130 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55531644e-01 1.26232057e-01 -5.02126551e-01 1.27789987e+01] [-1.09756423e-01 9.91999206e-01 6.23787107e-02 -8.92497278e-02] [ 5.05983333e-01 1.74465319e-03 8.62541491e-01 2.45410178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08538475 meters Centerline goodness : 0.938414 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55509310e-01 1.26432377e-01 -5.02114205e-01 1.27789198e+01] [-1.09972530e-01 9.91973541e-01 6.24062203e-02 -8.89658682e-02] [ 5.05974173e-01 1.82966691e-03 8.62546688e-01 2.45403266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters Centerline goodness : 0.939261 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55531312e-01 1.26786698e-01 -5.01987358e-01 1.27783201e+01] [-1.10304456e-01 9.91928248e-01 6.25402028e-02 -8.91325065e-02] [ 5.05864706e-01 1.86634056e-03 8.62610814e-01 2.45394701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14538475 meters Centerline goodness : 0.934472 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55510581e-01 1.26865643e-01 -5.02002743e-01 1.27784276e+01] [-1.10373642e-01 9.91918145e-01 6.25783730e-02 -8.91092778e-02] [ 5.05884675e-01 1.87141059e-03 8.62599092e-01 2.45394348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters Centerline goodness : 0.935796 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55460444e-01 1.26847073e-01 -5.02092868e-01 1.27787040e+01] [-1.10273464e-01 9.91920795e-01 6.27128265e-02 -8.96568108e-02] [ 5.05991296e-01 1.71917748e-03 8.62536870e-01 2.45416491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20538475 meters Centerline goodness : 0.935624 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55438048e-01 1.26919350e-01 -5.02112761e-01 1.27788823e+01] [-1.10269286e-01 9.91911762e-01 6.28628779e-02 -8.98079182e-02] [ 5.06030069e-01 1.59231827e-03 8.62514367e-01 2.45426949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters Centerline goodness : 0.936904 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55405610e-01 1.26735757e-01 -5.02214387e-01 1.27795531e+01] [-1.10050797e-01 9.91935399e-01 6.28727800e-02 -8.97384355e-02] [ 5.06132458e-01 1.48736507e-03 8.62454476e-01 2.45436319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26538475 meters Centerline goodness : 0.935138 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55327094e-01 1.26161308e-01 -5.02492673e-01 1.27813026e+01] [-1.09588929e-01 9.92008470e-01 6.25256985e-02 -8.92187599e-02] [ 5.06365311e-01 1.58770987e-03 8.62317604e-01 2.45421372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters Centerline goodness : 0.932970 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.45 [[ 8.55263926e-01 1.26188324e-01 -5.02593399e-01 1.27818453e+01] [-1.09610273e-01 9.92005016e-01 6.25430769e-02 -8.93265591e-02] [ 5.06467379e-01 1.59856228e-03 8.62257641e-01 2.45415972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32538475 meters Centerline goodness : 0.933749 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55167515e-01 1.26676318e-01 -5.02634689e-01 1.27808186e+01] [-1.09794593e-01 9.91943445e-01 6.31929599e-02 -9.01538838e-02] [ 5.06590237e-01 1.14600477e-03 8.62186186e-01 2.45505689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters Centerline goodness : 0.937758 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.55189727e-01 1.28774747e-01 -5.02063338e-01 1.27760967e+01] [-1.10968156e-01 9.91673857e-01 6.53378178e-02 -9.27942260e-02] [ 5.06296947e-01 -1.63187849e-04 8.62359191e-01 2.45700472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38538475000001 meters Centerline goodness : 0.943063 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.55247319e-01 1.29772509e-01 -5.01708201e-01 1.27739063e+01] [-1.11612266e-01 9.91543594e-01 6.62118115e-02 -9.36580538e-02] [ 5.06058025e-01 -6.30685059e-04 8.62499204e-01 2.45756483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters Centerline goodness : 0.946359 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.55452753e-01 1.30416580e-01 -5.01190685e-01 1.27725712e+01] [-1.12114037e-01 9.91458956e-01 6.66301790e-02 -9.35872764e-02] [ 5.05599674e-01 -8.08459064e-04 8.62767823e-01 2.45729134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44538475000002 meters Centerline goodness : 0.946140 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.55471755e-01 1.30576268e-01 -5.01116668e-01 1.27726150e+01] [-1.12173170e-01 9.91437791e-01 6.68452490e-02 -9.38833481e-02] [ 5.05554405e-01 -9.72377499e-04 8.62794181e-01 2.45729487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters Centerline goodness : 0.945419 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.55383588e-01 1.30021086e-01 -5.01411442e-01 1.27743181e+01] [-1.11646850e-01 9.91510698e-01 6.66446985e-02 -9.44539901e-02] [ 5.05820025e-01 -1.02577304e-03 8.62638424e-01 2.45727128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50538475 meters Centerline goodness : 0.945133 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.46 [[ 8.55295331e-01 1.29851348e-01 -5.01605945e-01 1.27750230e+01] [-1.11403953e-01 9.91532762e-01 6.67228626e-02 -9.50048157e-02] [ 5.06022782e-01 -1.18686758e-03 8.62519296e-01 2.45753632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters Centerline goodness : 0.943240 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55227146e-01 1.30392103e-01 -5.01581926e-01 1.27741208e+01] [-1.11530380e-01 9.91460777e-01 6.75758933e-02 -9.65480819e-02] [ 5.06110169e-01 -1.85111546e-03 8.62466852e-01 2.45851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56538475 meters Centerline goodness : 0.947002 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55214521e-01 1.30731319e-01 -5.01515149e-01 1.27733521e+01] [-1.11685426e-01 9.91415552e-01 6.79821230e-02 -9.70001931e-02] [ 5.06097311e-01 -2.12736572e-03 8.62473760e-01 2.45896400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters Centerline goodness : 0.948904 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55256821e-01 1.31296054e-01 -5.01295439e-01 1.27721187e+01] [-1.12055121e-01 9.91340332e-01 6.84689407e-02 -9.74640257e-02] [ 5.05944089e-01 -2.38580759e-03 8.62562976e-01 2.45921894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62538475 meters Centerline goodness : 0.946334 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55177866e-01 1.31298482e-01 -5.01429483e-01 1.27725302e+01] [-1.12004210e-01 9.91339808e-01 6.85597708e-02 -9.76030042e-02] [ 5.06088801e-01 -2.46858514e-03 8.62477844e-01 2.45940265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters Centerline goodness : 0.943358 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55149751e-01 1.30877627e-01 -5.01587430e-01 1.27740096e+01] [-1.11821260e-01 9.91396316e-01 6.80393344e-02 -9.68146766e-02] [ 5.06176757e-01 -2.09568162e-03 8.62427214e-01 2.45880896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68538475 meters Centerline goodness : 0.945746 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55089866e-01 1.30968529e-01 -5.01665791e-01 1.27743170e+01] [-1.11856698e-01 9.91384159e-01 6.81581170e-02 -9.70531671e-02] [ 5.06270086e-01 -2.16663633e-03 8.62372255e-01 2.45890451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters Centerline goodness : 0.945410 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.46 [[ 8.55054471e-01 1.30777617e-01 -5.01775913e-01 1.27752450e+01] [-1.11737488e-01 9.91409583e-01 6.79836222e-02 -9.73244219e-02] [ 5.06356185e-01 -2.06252012e-03 8.62321959e-01 2.45862681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74538475 meters Centerline goodness : 0.941479 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.46 [[ 8.55117973e-01 1.30957657e-01 -5.01620717e-01 1.27752567e+01] [-1.11952426e-01 9.91386009e-01 6.79737817e-02 -9.70642531e-02] [ 5.06201448e-01 -1.96794606e-03 8.62413022e-01 2.45821627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters Centerline goodness : 0.943105 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.46 [[ 8.55151529e-01 1.31093599e-01 -5.01527996e-01 1.27750154e+01] [-1.12082853e-01 9.91368068e-01 6.80205000e-02 -9.69740926e-02] [ 5.06115892e-01 -1.95514592e-03 8.62463264e-01 2.45812300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80538475 meters Centerline goodness : 0.943626 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.55030861e-01 1.31483741e-01 -5.01631591e-01 1.27743617e+01] [-1.12206387e-01 9.91315537e-01 6.85801132e-02 -9.75140929e-02] [ 5.06292360e-01 -2.35184491e-03 8.62358693e-01 2.45898240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters Centerline goodness : 0.942897 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54965824e-01 1.31937055e-01 -5.01623418e-01 1.27733501e+01] [-1.12340690e-01 9.91253997e-01 6.92465331e-02 -9.83764619e-02] [ 5.06372402e-01 -2.85069812e-03 8.62310190e-01 2.45986284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86538475 meters Centerline goodness : 0.944236 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54967269e-01 1.32389223e-01 -5.01501807e-01 1.27723956e+01] [-1.12624323e-01 9.91193043e-01 6.96571111e-02 -9.85103188e-02] [ 5.06306953e-01 -3.07324854e-03 8.62347856e-01 2.46022123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters Centerline goodness : 0.944815 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54888903e-01 1.32847420e-01 -5.01514234e-01 1.27715128e+01] [-1.12818884e-01 9.91130465e-01 7.02303363e-02 -9.88233939e-02] [ 5.06395955e-01 -3.45885909e-03 8.62294133e-01 2.46102112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92538475 meters Centerline goodness : 0.946362 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54827814e-01 1.32735029e-01 -5.01648104e-01 1.27720447e+01] [-1.12668259e-01 9.91145224e-01 7.02638530e-02 -9.87957266e-02] [ 5.06532597e-01 -3.54367752e-03 8.62213530e-01 2.46122421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters Centerline goodness : 0.942738 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54886959e-01 1.32631134e-01 -5.01574790e-01 1.27724334e+01] [-1.12819617e-01 9.91160665e-01 6.98016422e-02 -9.64197520e-02] [ 5.06399073e-01 -3.08503783e-03 8.62293721e-01 2.46067026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98538475 meters Centerline goodness : 0.945734 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54945824e-01 1.32757233e-01 -5.01441078e-01 1.27723304e+01] [-1.13151264e-01 9.91144992e-01 6.94866611e-02 -9.47808742e-02] [ 5.06225670e-01 -2.66863890e-03 8.62396921e-01 2.46011608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters Centerline goodness : 0.945555 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54921014e-01 1.33776443e-01 -5.01212454e-01 1.27701425e+01] [-1.13921199e-01 9.91007270e-01 7.01893978e-02 -9.47431141e-02] [ 5.06094873e-01 -2.90766729e-03 8.62472912e-01 2.46077339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04538475 meters Centerline goodness : 0.946666 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54886028e-01 1.34185653e-01 -5.01162738e-01 1.27692868e+01] [-1.14194027e-01 9.90951461e-01 7.05331578e-02 -9.49752137e-02] [ 5.06092485e-01 -3.06801981e-03 8.62473758e-01 2.46115068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters Centerline goodness : 0.946096 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54873005e-01 1.33416512e-01 -5.01390247e-01 1.27708488e+01] [-1.13575094e-01 9.91055657e-01 7.00669924e-02 -9.44770867e-02] [ 5.06253734e-01 -2.95293592e-03 8.62379520e-01 2.46101320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10538475 meters Centerline goodness : 0.942176 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54781207e-01 1.32279503e-01 -5.01847807e-01 1.27740455e+01] [-1.12765369e-01 9.91209155e-01 6.91981419e-02 -9.33685076e-02] [ 5.06589637e-01 -2.55821786e-03 8.62183504e-01 2.46043651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters Centerline goodness : 0.942657 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.09, Z:2.46 [[ 8.54737519e-01 1.31847210e-01 -5.02035941e-01 1.27755097e+01] [-1.12525575e-01 9.91267444e-01 6.87520817e-02 -9.28471656e-02] [ 5.06716655e-01 -2.27310077e-03 8.62109659e-01 2.45998251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16538475000002 meters Centerline goodness : 0.943829 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54745537e-01 1.32872888e-01 -5.01751794e-01 1.27735273e+01] [-1.13209275e-01 9.91129410e-01 6.96143084e-02 -9.37242827e-02] [ 5.06550813e-01 -2.69956257e-03 8.62205884e-01 2.46056229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters Centerline goodness : 0.945093 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54754490e-01 1.33651430e-01 -5.01529718e-01 1.27716598e+01] [-1.13684819e-01 9.91023524e-01 7.03429941e-02 -9.45829607e-02] [ 5.06429190e-01 -3.10967476e-03 8.62275945e-01 2.46121433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22538475000002 meters Centerline goodness : 0.945530 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54705767e-01 1.34793634e-01 -5.01307020e-01 1.27694060e+01] [-1.14244628e-01 9.90865760e-01 7.16464229e-02 -9.67517610e-02] [ 5.06385444e-01 -3.96497698e-03 8.62298128e-01 2.46238823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters Centerline goodness : 0.945907 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54699230e-01 1.34885488e-01 -5.01293459e-01 1.27694840e+01] [-1.14249810e-01 9.90852666e-01 7.18190512e-02 -9.73157039e-02] [ 5.06395308e-01 -4.11100531e-03 8.62291651e-01 2.46243605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28538475 meters Centerline goodness : 0.945573 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54645218e-01 1.34033256e-01 -5.01614032e-01 1.27721815e+01] [-1.13453715e-01 9.90967985e-01 7.14892093e-02 -9.83798531e-02] [ 5.06665378e-01 -4.18793573e-03 8.62132621e-01 2.46205600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters Centerline goodness : 0.945573 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54645218e-01 1.34033256e-01 -5.01614032e-01 1.27721815e+01] [-1.13453715e-01 9.90967985e-01 7.14892093e-02 -9.83798531e-02] [ 5.06665378e-01 -4.18793573e-03 8.62132621e-01 2.46205600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34538475 meters Centerline goodness : 0.943816 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54500318e-01 1.33740400e-01 -5.01938952e-01 1.27731540e+01] [-1.12994966e-01 9.91005995e-01 7.16886057e-02 -9.94414861e-02] [ 5.07012173e-01 -4.54136164e-03 8.61926930e-01 2.46268585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters Centerline goodness : 0.940672 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54297083e-01 1.33682383e-01 -5.02300223e-01 1.27737124e+01] [-1.12600305e-01 9.91010816e-01 7.22408107e-02 -1.01622928e-01] [ 5.07442277e-01 -5.15595554e-03 8.61670326e-01 2.46374366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40538475 meters Centerline goodness : 0.941691 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.47 [[ 8.54093893e-01 1.33558744e-01 -5.02678510e-01 1.27738651e+01] [-1.12151723e-01 9.91024145e-01 7.27539326e-02 -1.02967335e-01] [ 5.07883465e-01 -5.76242838e-03 8.61406513e-01 2.46506431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43538475 meters Centerline goodness : 0.943276 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54065307e-01 1.33259890e-01 -5.02806377e-01 1.27748391e+01] [-1.11957162e-01 9.91065182e-01 7.24941258e-02 -1.02303849e-01] [ 5.07974453e-01 -5.62194281e-03 8.61353788e-01 2.46487556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46538475 meters Centerline goodness : 0.941432 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.47 [[ 8.54014886e-01 1.33432475e-01 -5.02846247e-01 1.27746808e+01] [-1.12073012e-01 9.91041645e-01 7.26367541e-02 -1.02057637e-01] [ 5.08033674e-01 -5.67737592e-03 8.61318497e-01 2.46510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49538475 meters Centerline goodness : 0.943802 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.47 [[ 8.53990647e-01 1.33915551e-01 -5.02758988e-01 1.27734349e+01] [-1.12484594e-01 9.90976382e-01 7.28905059e-02 -1.01099714e-01] [ 5.07983455e-01 -5.69516987e-03 8.61347998e-01 2.46551100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52538475 meters Centerline goodness : 0.942638 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.47 [[ 8.53982351e-01 1.33741712e-01 -5.02819349e-01 1.27740515e+01] [-1.12550557e-01 9.91002230e-01 7.24358473e-02 -9.94839594e-02] [ 5.07982791e-01 -5.26633754e-03 8.61351119e-01 2.46505726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55538475 meters Centerline goodness : 0.938499 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.53968076e-01 1.33880592e-01 -5.02806635e-01 1.27742393e+01] [-1.13037738e-01 9.90987027e-01 7.18831209e-02 -9.68572364e-02] [ 5.07898607e-01 -4.54976593e-03 8.61404843e-01 2.46429224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58538475 meters Centerline goodness : 0.938399 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.46 [[ 8.54001936e-01 1.34977775e-01 -5.02455664e-01 1.27718122e+01] [-1.14129492e-01 9.90839256e-01 7.21943705e-02 -9.51620126e-02] [ 5.07597432e-01 -4.30912229e-03 8.61583588e-01 2.46435594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61538475 meters Centerline goodness : 0.938156 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54043992e-01 1.35453439e-01 -5.02256136e-01 1.27706059e+01] [-1.14594368e-01 9.90774687e-01 7.23439782e-02 -9.40659544e-02] [ 5.07421907e-01 -4.22921546e-03 8.61687369e-01 2.46442747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64538475 meters Centerline goodness : 0.942341 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54065664e-01 1.35536082e-01 -5.02196985e-01 1.27701641e+01] [-1.14750188e-01 9.90764040e-01 7.22427305e-02 -9.27334677e-02] [ 5.07350210e-01 -4.07283744e-03 8.61730339e-01 2.46448252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67538475 meters Centerline goodness : 0.941185 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54043170e-01 1.35043767e-01 -5.02367837e-01 1.27718583e+01] [-1.14689367e-01 9.90834003e-01 7.13745644e-02 -9.02082538e-02] [ 5.07401825e-01 -3.34071006e-03 8.61703097e-01 2.46355915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70538475 meters Centerline goodness : 0.941284 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.53957741e-01 1.34574419e-01 -5.02638939e-01 1.27733213e+01] [-1.14365011e-01 9.90898497e-01 7.09986830e-02 -9.00300727e-02] [ 5.07618776e-01 -3.14556698e-03 8.61576047e-01 2.46336479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73538475 meters Centerline goodness : 0.937962 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.53977502e-01 1.34396400e-01 -5.02652996e-01 1.27741455e+01] [-1.14384559e-01 9.90923672e-01 7.06147878e-02 -8.91733457e-02] [ 5.07581126e-01 -2.80769883e-03 8.61599395e-01 2.46276884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76538475 meters Centerline goodness : 0.936898 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54109141e-01 1.35194992e-01 -5.02214982e-01 1.27725790e+01] [-1.15057975e-01 9.90814772e-01 7.10475161e-02 -8.92543384e-02] [ 5.07207292e-01 -2.89849395e-03 8.61819217e-01 2.46257835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79538475 meters Centerline goodness : 0.940518 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54104660e-01 1.35625158e-01 -5.02106608e-01 1.27718068e+01] [-1.15381398e-01 9.90755668e-01 7.13466104e-02 -8.93061499e-02] [ 5.07141364e-01 -3.00370994e-03 8.61857654e-01 2.46274797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82538475 meters Centerline goodness : 0.941212 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54084170e-01 1.36120630e-01 -5.02007376e-01 1.27707114e+01] [-1.15732723e-01 9.90687223e-01 7.17269978e-02 -8.94349588e-02] [ 5.07095817e-01 -3.16221275e-03 8.61883886e-01 2.46314976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85538475 meters Centerline goodness : 0.940427 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54035490e-01 1.36277855e-01 -5.02047536e-01 1.27706140e+01] [-1.15783295e-01 9.90665093e-01 7.19506983e-02 -8.96814748e-02] [ 5.07166256e-01 -3.31973195e-03 8.61841847e-01 2.46342441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88538475000001 meters Centerline goodness : 0.941431 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.54001448e-01 1.36154122e-01 -5.02139006e-01 1.27713195e+01] [-1.15592326e-01 9.90681588e-01 7.20305872e-02 -9.00805901e-02] [ 5.07267129e-01 -3.47081003e-03 8.61781882e-01 2.46351916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91538475000002 meters Centerline goodness : 0.941760 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.46 [[ 8.53900563e-01 1.36255001e-01 -5.02283191e-01 1.27714144e+01] [-1.15548062e-01 9.90666881e-01 7.23033588e-02 -9.04462593e-02] [ 5.07447016e-01 -3.70202922e-03 8.61675009e-01 2.46399382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94538475000002 meters Centerline goodness : 0.943242 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53829702e-01 1.36337413e-01 -5.02381280e-01 1.27708616e+01] [-1.15301683e-01 9.90653109e-01 7.28830513e-02 -9.18005766e-02] [ 5.07622264e-01 -4.30430686e-03 8.61568982e-01 2.46509834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97538475 meters Centerline goodness : 0.941302 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53824276e-01 1.36332425e-01 -5.02391854e-01 1.27711019e+01] [-1.15289653e-01 9.90653737e-01 7.28935424e-02 -9.15826278e-02] [ 5.07634121e-01 -4.31769340e-03 8.61561928e-01 2.46508512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00538475 meters Centerline goodness : 0.944284 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53831883e-01 1.36253480e-01 -5.02400343e-01 1.27714655e+01] [-1.15185593e-01 9.90664292e-01 7.29146125e-02 -9.17157461e-02] [ 5.07644950e-01 -4.38753961e-03 8.61555195e-01 2.46505009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03538475 meters Centerline goodness : 0.944995 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53746417e-01 1.36580996e-01 -5.02456652e-01 1.27709814e+01] [-1.15256711e-01 9.90617345e-01 7.34381758e-02 -9.28072819e-02] [ 5.07772534e-01 -4.78607846e-03 8.61477885e-01 2.46569955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06538475 meters Centerline goodness : 0.944078 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53658054e-01 1.36826912e-01 -5.02539871e-01 1.27704931e+01] [-1.15164906e-01 9.90580462e-01 7.40769416e-02 -9.44964237e-02] [ 5.07941897e-01 -5.36142100e-03 8.61374648e-01 2.46664639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09538475 meters Centerline goodness : 0.946466 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53573777e-01 1.36585181e-01 -5.02748739e-01 1.27716668e+01] [-1.14906048e-01 9.90613461e-01 7.40376385e-02 -9.46537049e-02] [ 5.08142113e-01 -5.42771581e-03 8.61256137e-01 2.46671714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12538475 meters Centerline goodness : 0.943201 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.09, Z:2.47 [[ 8.53526721e-01 1.35923138e-01 -5.03007988e-01 1.27738260e+01] [-1.14399757e-01 9.90705383e-01 7.35903513e-02 -9.48633821e-02] [ 5.08335353e-01 -5.26733959e-03 8.61143091e-01 2.46623037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15538475 meters Centerline goodness : 0.942276 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:2.47 [[ 8.53502150e-01 1.35760906e-01 -5.03093486e-01 1.27747071e+01] [-1.14248927e-01 9.90727578e-01 7.35258339e-02 -9.55791986e-02] [ 5.08410525e-01 -5.27656610e-03 8.61098656e-01 2.46600588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18538475 meters Centerline goodness : 0.939211 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.53408434e-01 1.35513997e-01 -5.03318986e-01 1.27757421e+01] [-1.13997465e-01 9.90761163e-01 7.34635640e-02 -9.61402901e-02] [ 5.08624245e-01 -5.31733654e-03 8.60972185e-01 2.46605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21538475 meters Centerline goodness : 0.939227 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.53256317e-01 1.35242013e-01 -5.03649933e-01 1.27769870e+01] [-1.13593720e-01 9.90796796e-01 7.36082562e-02 -9.79554793e-02] [ 5.08969669e-01 -5.59524001e-03 8.60766269e-01 2.46640625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24538475 meters Centerline goodness : 0.938490 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.53130184e-01 1.35467935e-01 -5.03802866e-01 1.27769552e+01] [-1.13529204e-01 9.90763132e-01 7.41588572e-02 -9.93784882e-02] [ 5.09195453e-01 -6.07082097e-03 8.60629500e-01 2.46715003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27538475 meters Centerline goodness : 0.937300 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.53000968e-01 1.35749435e-01 -5.03945870e-01 1.27765547e+01] [-1.13409129e-01 9.90720221e-01 7.49120419e-02 -1.01160070e-01] [ 5.09438631e-01 -6.74798218e-03 8.60480532e-01 2.46824965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30538475 meters Centerline goodness : 0.936839 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.52996627e-01 1.35494794e-01 -5.04021740e-01 1.27773344e+01] [-1.12724341e-01 9.90748574e-01 7.55677551e-02 -1.04162058e-01] [ 5.09597858e-01 -7.64352188e-03 8.60378754e-01 2.46901080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33538475 meters Centerline goodness : 0.936576 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:2.47 [[ 8.52878664e-01 1.34893207e-01 -5.04382599e-01 1.27791709e+01] [-1.12049096e-01 9.90828688e-01 7.55215906e-02 -1.04920678e-01] [ 5.09944099e-01 -7.89513894e-03 8.60171310e-01 2.46930771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36538475 meters Centerline goodness : 0.934891 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.52739545e-01 1.34245697e-01 -5.04790413e-01 1.27810128e+01] [-1.11057452e-01 9.90910088e-01 7.59173177e-02 -1.07142214e-01] [ 5.10393486e-01 -8.67696170e-03 8.59897203e-01 2.47034442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39538475 meters Centerline goodness : 0.935412 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53419449e-01 1.29824607e-01 -5.04797797e-01 1.27789432e+01] [-1.07997172e-01 9.91510214e-01 7.24161973e-02 -1.07420458e-01] [ 5.09913576e-01 -7.28465695e-03 8.60194791e-01 2.46992208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42538475 meters Centerline goodness : 0.939047 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53414230e-01 1.30738710e-01 -5.04570651e-01 1.27768401e+01] [-1.08341273e-01 9.91383178e-01 7.36312622e-02 -1.09412356e-01] [ 5.09849312e-01 -8.17214049e-03 8.60224910e-01 2.47120988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45538475 meters Centerline goodness : 0.939382 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53427759e-01 1.31377627e-01 -5.04381780e-01 1.27752812e+01] [-1.08460276e-01 9.91291231e-01 7.46864393e-02 -1.11194306e-01] [ 5.09801362e-01 -9.03409337e-03 8.60244707e-01 2.47240278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48538475 meters Centerline goodness : 0.939375 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53389224e-01 1.30948639e-01 -5.04558507e-01 1.27764021e+01] [-1.08104172e-01 9.91348447e-01 7.44428929e-02 -1.11082123e-01] [ 5.09941487e-01 -8.98388315e-03 8.60162176e-01 2.47231679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51538475 meters Centerline goodness : 0.939837 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53442932e-01 1.29984091e-01 -5.04717048e-01 1.27788378e+01] [-1.07458942e-01 9.91478700e-01 7.36380583e-02 -1.10546513e-01] [ 5.09987978e-01 -8.60952049e-03 8.60138441e-01 2.47137399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54538475 meters Centerline goodness : 0.939081 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53346640e-01 1.29599653e-01 -5.04978655e-01 1.27801375e+01] [-1.07143310e-01 9.91529618e-01 7.34120362e-02 -1.10488903e-01] [ 5.10215467e-01 -8.54083003e-03 8.60004204e-01 2.47133614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57538475 meters Centerline goodness : 0.939452 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53295157e-01 1.29148327e-01 -5.05181239e-01 1.27817073e+01] [-1.06984000e-01 9.91592470e-01 7.27928438e-02 -1.09350163e-01] [ 5.10334986e-01 -8.06747132e-03 8.59937857e-01 2.47068837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60538475 meters Centerline goodness : 0.938489 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53278599e-01 1.28911870e-01 -5.05269594e-01 1.27824985e+01] [-1.06922799e-01 9.91625540e-01 7.24313657e-02 -1.08624464e-01] [ 5.10375497e-01 -7.77929498e-03 8.59916470e-01 2.47029778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63538475000001 meters Centerline goodness : 0.935473 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53109378e-01 1.28648650e-01 -5.05622304e-01 1.27838752e+01] [-1.06831979e-01 9.91662170e-01 7.20629520e-02 -1.08169428e-01] [ 5.10677312e-01 -7.46094862e-03 8.59740087e-01 2.47008206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66538475000002 meters Centerline goodness : 0.934345 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:2.47 [[ 8.53056960e-01 1.28281950e-01 -5.05803880e-01 1.27850762e+01] [-1.06621326e-01 9.91711368e-01 7.16969678e-02 -1.07767293e-01] [ 5.10808884e-01 -7.23211725e-03 8.59663876e-01 2.46978355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69538475000002 meters Centerline goodness : 0.932946 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:2.47 [[ 8.52995152e-01 1.27782340e-01 -5.06034529e-01 1.27866781e+01] [-1.06343387e-01 9.91778193e-01 7.11835710e-02 -1.06954194e-01] [ 5.10970014e-01 -6.90581522e-03 8.59570797e-01 2.46933090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72538475 meters Centerline goodness : 0.929930 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:2.47 [[ 8.52282061e-01 1.31431788e-01 -5.06301269e-01 1.27905776e+01] [-1.08627382e-01 9.91289000e-01 7.44728854e-02 -1.07067100e-01] [ 5.11678983e-01 -8.47372299e-03 8.59134922e-01 2.46991684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75538475 meters Centerline goodness : 0.931670 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:2.47 [[ 8.52339193e-01 1.32471901e-01 -5.05933885e-01 1.27879918e+01] [-1.09575736e-01 9.91151013e-01 7.49188087e-02 -1.05857137e-01] [ 5.11381520e-01 -8.41815881e-03 8.59312560e-01 2.47015777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78538475 meters Centerline goodness : 0.930276 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:2.47 [[ 8.52366489e-01 1.33654936e-01 -5.05576628e-01 1.27851949e+01] [-1.10447168e-01 9.90989328e-01 7.57731826e-02 -1.05896289e-01] [ 5.11148503e-01 -8.74701474e-03 8.59447903e-01 2.47085508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81538475 meters Centerline goodness : 0.938603 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.52417412e-01 1.36089421e-01 -5.04840792e-01 1.27794301e+01] [-1.12071088e-01 9.90648531e-01 7.78174788e-02 -1.06374511e-01] [ 5.10709925e-01 -9.75491693e-03 8.59697746e-01 2.47276079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84538475 meters Centerline goodness : 0.941474 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.52463948e-01 1.37015165e-01 -5.04511707e-01 1.27771682e+01] [-1.12592774e-01 9.90515045e-01 7.87579396e-02 -1.06775286e-01] [ 5.10517468e-01 -1.03339317e-02 8.59805283e-01 2.47363676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87538475 meters Centerline goodness : 0.946286 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.52506638e-01 1.37552356e-01 -5.04293348e-01 1.27758346e+01] [-1.12779164e-01 9.90434510e-01 7.95005820e-02 -1.07802084e-01] [ 5.10405028e-01 -1.09009918e-02 8.59865034e-01 2.47430932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90538475 meters Centerline goodness : 0.951295 Centerline is valid? [False, True] Translation: X:12.78, Y:-0.11, Z:2.47 [[ 8.53285445e-01 1.32488996e-01 -5.04331850e-01 1.27750335e+01] [-1.09023742e-01 9.91136099e-01 7.59148048e-02 -1.08304987e-01] [ 5.09919378e-01 -9.79285237e-03 8.60166454e-01 2.47391744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93538475 meters Centerline goodness : 0.950675 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.11, Z:2.48 [[ 8.53931115e-01 1.24896874e-01 -5.05175634e-01 1.28018969e+01] [-1.03769188e-01 9.92143205e-01 6.98843028e-02 -1.10379588e-01] [ 5.09934904e-01 -7.25471540e-03 8.60182401e-01 2.48425804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96538475 meters Centerline goodness : 0.950968 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.11, Z:2.50 [[ 8.54243739e-01 1.22645329e-01 -5.05198731e-01 1.28260960e+01] [-1.01252285e-01 9.92414992e-01 6.97169871e-02 -1.14741283e-01] [ 5.09917257e-01 -8.40277405e-03 8.60182413e-01 2.49833459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99538475 meters Centerline goodness : 0.951220 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.12, Z:2.51 [[ 8.54578344e-01 1.20261867e-01 -5.05205836e-01 1.28503021e+01] [-9.85139131e-02 9.92694179e-01 6.96654622e-02 -1.18968931e-01] [ 5.09892991e-01 -9.76479145e-03 8.60182414e-01 2.51369627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02538475 meters Centerline goodness : 0.950719 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.12, Z:2.53 [[ 8.55200681e-01 1.15666927e-01 -5.05225650e-01 1.28750515e+01] [-9.32619260e-02 9.93211444e-01 6.95215166e-02 -1.23561170e-01] [ 5.09837237e-01 -1.23365312e-02 8.60182424e-01 2.52587795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters Centerline goodness : 0.948262 Centerline is valid? [True, False] Translation: X:12.88, Y:-0.13, Z:2.53 [[ 0.85474571 0.1124883 -0.50671111 12.88132475] [-0.08886449 0.9935342 0.07066045 -0.1258676 ] [ 0.51138329 -0.01536809 0.85921531 2.53165719] [ 0. 0. 0. 1. ]] SLAMing on 170.08538475 meters Centerline goodness : 0.948770 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.13, Z:2.53 [[ 0.85445281 0.11141124 -0.50744254 12.88403673] [-0.08762367 0.99364761 0.07061534 -0.12619902] [ 0.51208641 -0.0158735 0.85878725 2.53284255] [ 0. 0. 0. 1. ]] SLAMing on 170.11538475 meters Centerline goodness : 0.948543 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.13, Z:2.54 [[ 0.85381319 0.11399599 -0.50794483 12.88836631] [-0.08749735 0.99327359 0.07584056 -0.1282916 ] [ 0.5131737 -0.02030985 0.85804444 2.53840803] [ 0. 0. 0. 1. ]] SLAMing on 170.14538475 meters Centerline goodness : 0.947040 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.13, Z:2.54 [[ 0.85357774 0.11267635 -0.50863452 12.89088594] [-0.08632163 0.99342457 0.07520769 -0.12707605] [ 0.51376416 -0.02028945 0.85769151 2.53911302] [ 0. 0. 0. 1. ]] SLAMing on 170.17538475 meters Centerline goodness : 0.947034 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.13, Z:2.54 [[ 0.85353959 0.11288879 -0.50865144 12.89036281] [-0.08655662 0.99340263 0.07522739 -0.12564028] [ 0.51378801 -0.0201824 0.85767975 2.53941764] [ 0. 0. 0. 1. ]] SLAMing on 170.20538475 meters Centerline goodness : 0.946648 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.12, Z:2.54 [[ 0.85291633 0.11877766 -0.50835579 12.88860826] [-0.09073762 0.9926804 0.07970137 -0.12326963] [ 0.51410157 -0.02185161 0.85745092 2.54117875] [ 0. 0. 0. 1. ]] SLAMing on 170.23538475 meters Centerline goodness : 0.949026 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.12, Z:2.54 [[ 0.85218665 0.12449295 -0.50821199 12.88773359] [-0.09443989 0.99192726 0.08462519 -0.12350282] [ 0.51464456 -0.02412098 0.85706426 2.5434848 ] [ 0. 0. 0. 1. ]] SLAMing on 170.26538475 meters Centerline goodness : 0.949026 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.12, Z:2.54 [[ 0.85218665 0.12449295 -0.50821199 12.88773359] [-0.09443989 0.99192726 0.08462519 -0.12350282] [ 0.51464456 -0.02412098 0.85706426 2.5434848 ] [ 0. 0. 0. 1. ]] SLAMing on 170.29538475 meters Centerline goodness : 0.951559 Centerline is valid? [False, True] Translation: X:12.89, Y:-0.12, Z:2.54 [[ 0.85158921 0.13069685 -0.50765554 12.88528362] [-0.09898189 0.99109072 0.08911658 -0.12077492] [ 0.51477995 -0.02564202 0.85693879 2.54490704] [ 0. 0. 0. 1. ]] SLAMing on 170.32538475 meters Centerline goodness : 0.953028 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.12, Z:2.55 [[ 0.85099712 0.12723125 -0.50952538 12.91452515] [-0.10217502 0.99178163 0.07700297 -0.115674 ] [ 0.5151351 -0.01346854 0.85700317 2.55357236] [ 0. 0. 0. 1. ]] SLAMing on 170.35538475 meters Centerline goodness : 0.950229 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.12, Z:2.57 [[ 0.85090828 0.12773431 -0.50954788 12.93891093] [-0.10285058 0.99172337 0.0768538 -0.11709482] [ 0.51514741 -0.01298824 0.85700318 2.56766158] [ 0. 0. 0. 1. ]] SLAMing on 170.38538475000001 meters Centerline goodness : 0.949058 Centerline is valid? [True, False] Translation: X:12.94, Y:-0.12, Z:2.57 [[ 0.85007634 0.13186903 -0.5098831 12.9413106 ] [-0.10563726 0.99116353 0.08022239 -0.11510088] [ 0.51595638 -0.0143325 0.85649495 2.56888625] [ 0. 0. 0. 1. ]] SLAMing on 170.41538475000002 meters Centerline goodness : 0.949567 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.11, Z:2.57 [[ 0.84997582 0.13144697 -0.51015958 12.94217064] [-0.10541928 0.99122417 0.07975852 -0.11326646] [ 0.51616652 -0.01401216 0.85637362 2.56897508] [ 0. 0. 0. 1. ]] SLAMing on 170.44538475000002 meters Centerline goodness : 0.946806 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.11, Z:2.57 [[ 0.84987367 0.13102811 -0.51043744 12.94293137] [-0.10516474 0.99128305 0.07936173 -0.11164173] [ 0.5163866 -0.01376743 0.85624491 2.56919006] [ 0. 0. 0. 1. ]] SLAMing on 170.47538475 meters Centerline goodness : 0.945723 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.11, Z:2.57 [[ 0.84967568 0.1297162 -0.51110171 12.94548061] [-0.10436447 0.99146534 0.07813155 -0.10815672] [ 0.51687455 -0.01304562 0.85596174 2.56916405] [ 0. 0. 0. 1. ]] SLAMing on 170.50538475 meters Centerline goodness : 0.943304 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.11, Z:2.57 [[ 0.8488569 0.13334088 -0.51152926 12.94882571] [-0.1068208 0.99096906 0.08105327 -0.10568158] [ 0.51771738 -0.01416066 0.8554345 2.57004644] [ 0. 0. 0. 1. ]] SLAMing on 170.53538475 meters Centerline goodness : 0.942574 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.11, Z:2.57 [[ 0.84800998 0.13806494 -0.5116807 12.9501905 ] [-0.10991986 0.99029604 0.08503747 -0.10514003] [ 0.51845607 -0.01586875 0.85495701 2.57158346] [ 0. 0. 0. 1. ]] SLAMing on 170.56538475 meters Centerline goodness : 0.943545 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.10, Z:2.57 [[ 0.84731062 0.14400436 -0.51120197 12.94933431] [-0.11458338 0.98943668 0.08880146 -0.10087235] [ 0.51858978 -0.01666717 0.85486072 2.57187444] [ 0. 0. 0. 1. ]] SLAMing on 170.59538475 meters Centerline goodness : 0.944366 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.10, Z:2.57 [[ 0.84664959 0.15021986 -0.51050804 12.94778103] [-0.11911713 0.98848513 0.09331808 -0.09968972] [ 0.51864783 -0.01819746 0.85479429 2.57268865] [ 0. 0. 0. 1. ]] SLAMing on 170.62538475 meters Centerline goodness : 0.945574 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.10, Z:2.57 [[ 0.84591745 0.15658988 -0.50980709 12.94580731] [-0.12378979 0.98746705 0.09790254 -0.098523 ] [ 0.51874825 -0.01970855 0.85469984 2.57362423] [ 0. 0. 0. 1. ]] SLAMing on 170.65538475 meters Centerline goodness : 0.948248 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.10, Z:2.57 [[ 0.84492476 0.16623097 -0.50839887 12.93908978] [-0.13152994 0.98586755 0.10375479 -0.09574205] [ 0.5184612 -0.02079532 0.85484825 2.57417422] [ 0. 0. 0. 1. ]] SLAMing on 170.68538475 meters Centerline goodness : 0.946950 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.09, Z:2.57 [[ 0.84442763 0.16976607 -0.50805655 12.93600383] [-0.1345422 0.98526442 0.105605 -0.09381374] [ 0.51849819 -0.02082074 0.8548252 2.57445128] [ 0. 0. 0. 1. ]] SLAMing on 170.71538475 meters Centerline goodness : 0.948850 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.09, Z:2.57 [[ 0.84363378 0.17798833 -0.50655917 12.93207786] [-0.14117783 0.98379219 0.11055202 -0.09183314] [ 0.51802593 -0.02175049 0.85508833 2.5738517 ] [ 0. 0. 0. 1. ]] SLAMing on 170.74538475 meters Centerline goodness : 0.949895 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.09, Z:2.57 [[ 0.8428379 0.18496383 -0.50538368 12.92976345] [-0.14638388 0.9824686 0.11544354 -0.092652 ] [ 0.51787647 -0.02332017 0.85513749 2.57396951] [ 0. 0. 0. 1. ]] SLAMing on 170.77538475 meters Centerline goodness : 0.949279 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.09, Z:2.57 [[ 0.84279049 0.18572878 -0.50518215 12.92883486] [-0.14700794 0.98232214 0.11589601 -0.0937666 ] [ 0.51777683 -0.02341026 0.85519536 2.57384136] [ 0. 0. 0. 1. ]] SLAMing on 170.80538475 meters Centerline goodness : 0.951551 Centerline is valid? [False, True] Translation: X:12.93, Y:-0.10, Z:2.57 [[ 0.84374664 0.18268569 -0.5046955 12.92506809] [-0.14537073 0.98293019 0.11276348 -0.09528522] [ 0.51668071 -0.02177585 0.85590119 2.57211283] [ 0. 0. 0. 1. ]] SLAMing on 170.83538475 meters Centerline goodness : 0.950963 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.09, Z:2.56 [[ 0.84433722 0.1610937 -0.51102199 12.96534218] [-0.1457696 0.98682224 0.07023601 -0.08739329] [ 0.51560245 0.01518859 0.85669331 2.56211268] [ 0. 0. 0. 1. ]] SLAMing on 170.86538475 meters Centerline goodness : 0.949300 Centerline is valid? [True, False] Translation: X:12.96, Y:-0.09, Z:2.56 [[ 0.84430054 0.16205354 -0.51077906 12.9642649 ] [-0.14597181 0.98668299 0.07175587 -0.09333369] [ 0.51560531 0.01397583 0.85671223 2.56266736] [ 0. 0. 0. 1. ]] SLAMing on 170.89538475 meters Centerline goodness : 0.952567 Centerline is valid? [False, True] Translation: X:12.96, Y:-0.10, Z:2.56 [[ 0.84411982 0.16178761 -0.51116191 12.96496783] [-0.14519943 0.98674006 0.07253397 -0.09728118] [ 0.51611903 0.01299306 0.85641831 2.56392549] [ 0. 0. 0. 1. ]] SLAMing on 170.92538475 meters Centerline goodness : 0.952074 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.11, Z:2.58 [[ 8.45163169e-01 1.56028627e-01 -5.11228213e-01 1.29881892e+01] [-1.38752573e-01 9.87701625e-01 7.20640269e-02 -1.05288518e-01] [ 5.16184988e-01 1.00283689e-02 8.56418408e-01 2.57921581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters Centerline goodness : 0.951238 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.11, Z:2.59 [[ 8.45540527e-01 1.53887957e-01 -5.11253081e-01 1.30114800e+01] [-1.36357880e-01 9.88047952e-01 7.18872279e-02 -1.11018007e-01] [ 5.16205139e-01 8.92982160e-03 8.56418422e-01 2.59186887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98538475 meters Centerline goodness : 0.953050 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.12, Z:2.60 [[ 8.46259018e-01 1.49828960e-01 -5.11269946e-01 1.30353234e+01] [-1.31687833e-01 9.88689939e-01 7.17671141e-02 -1.18696593e-01] [ 5.16240244e-01 6.59446393e-03 8.56418428e-01 2.60358304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.12, Z:2.62 [[ 8.46598752e-01 1.47840190e-01 -5.11286447e-01 1.30589759e+01] [-1.29435548e-01 9.88995856e-01 7.16493897e-02 -1.23696094e-01] [ 5.16252837e-01 5.52035761e-03 8.56418434e-01 2.62028984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04538475 meters Centerline goodness : 0.952706 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.13, Z:2.64 [[ 8.47024137e-01 1.45309564e-01 -5.11307385e-01 1.30814336e+01] [-1.26569817e-01 9.89377518e-01 7.14997009e-02 -1.32212266e-01] [ 5.16265622e-01 4.15410983e-03 8.56418444e-01 2.63663199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters Centerline goodness : 0.954018 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.14, Z:2.65 [[ 8.47240632e-01 1.43956089e-01 -5.11331552e-01 1.31048028e+01] [-1.25093449e-01 9.89577768e-01 7.13265038e-02 -1.37456723e-01] [ 5.16270221e-01 3.53351540e-03 8.56418457e-01 2.65017584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10538475 meters Centerline goodness : 0.953059 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.14, Z:2.66 [[ 8.47555918e-01 1.42050307e-01 -5.11342034e-01 1.31293828e+01] [-1.22912978e-01 9.89856380e-01 7.12512922e-02 -1.43397714e-01] [ 5.16276443e-01 2.46111797e-03 8.56418460e-01 2.66425589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters Centerline goodness : 0.952746 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.15, Z:2.68 [[ 8.48067158e-01 1.38887531e-01 -5.11363227e-01 1.31523513e+01] [-1.19311366e-01 9.90307903e-01 7.10989112e-02 -1.50540183e-01] [ 5.16281797e-01 7.14793791e-04 8.56418470e-01 2.67828776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16538475000002 meters Centerline goodness : 0.952966 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.16, Z:2.69 [[ 8.48366608e-01 1.37018525e-01 -5.11370729e-01 1.31772086e+01] [-1.17161535e-01 9.90568420e-01 7.10449136e-02 -1.55533689e-01] [ 5.16282165e-01 -3.59152570e-04 8.56418471e-01 2.69036400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters Centerline goodness : 0.951697 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.16, Z:2.71 [[ 8.48566433e-01 1.35747882e-01 -5.11378061e-01 1.32005631e+01] [-1.15709782e-01 9.90742836e-01 7.09921053e-02 -1.59223676e-01] [ 5.16281179e-01 -1.07007359e-03 8.56418472e-01 2.70621952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22538475 meters Centerline goodness : 0.949451 Centerline is valid? [True, False] Translation: X:13.20, Y:-0.16, Z:2.71 [[ 8.48494617e-01 1.34891293e-01 -5.11723778e-01 1.32034759e+01] [-1.14924332e-01 9.90859766e-01 7.06351346e-02 -1.59999621e-01] [ 5.16574567e-01 -1.12401827e-03 8.56241469e-01 2.70583437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters Centerline goodness : 0.950696 Centerline is valid? [False, True] Translation: X:13.20, Y:-0.16, Z:2.71 [[ 8.48416035e-01 1.34827496e-01 -5.11870861e-01 1.32041404e+01] [-1.14790123e-01 9.90868293e-01 7.07336800e-02 -1.60369028e-01] [ 5.16733451e-01 -1.25386905e-03 8.56145413e-01 2.70598934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28538475 meters Centerline goodness : 0.949630 Centerline is valid? [True, False] Translation: X:13.20, Y:-0.16, Z:2.71 [[ 8.48417507e-01 1.35174540e-01 -5.11776882e-01 1.32036997e+01] [-1.15045712e-01 9.90820890e-01 7.09820308e-02 -1.60639508e-01] [ 5.16674189e-01 -1.34466200e-03 8.56181041e-01 2.70602280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters Centerline goodness : 0.951447 Centerline is valid? [False, True] Translation: X:13.20, Y:-0.16, Z:2.71 [[ 8.48395045e-01 1.35586849e-01 -5.11705047e-01 1.32030639e+01] [-1.15307593e-01 9.90764289e-01 7.13462127e-02 -1.60765818e-01] [ 5.16652695e-01 -1.52629601e-03 8.56193707e-01 2.70633392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34538475 meters Centerline goodness : 0.950411 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.17, Z:2.72 [[ 8.48443450e-01 1.35283236e-01 -5.11705148e-01 1.32270029e+01] [-1.14953473e-01 9.90805491e-01 7.13454839e-02 -1.65046682e-01] [ 5.16652118e-01 -1.71032451e-03 8.56193707e-01 2.72194370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters Centerline goodness : 0.950142 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.17, Z:2.74 [[ 8.48452625e-01 1.35149045e-01 -5.11725394e-01 1.32503032e+01] [-1.14884501e-01 9.90823955e-01 7.12000123e-02 -1.68909514e-01] [ 5.16652393e-01 -1.62052070e-03 8.56193716e-01 2.73706786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40538475 meters Centerline goodness : 0.952184 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.17, Z:2.75 [[ 8.48453493e-01 1.35054601e-01 -5.11748888e-01 1.32744444e+01] [-1.14876264e-01 9.90837055e-01 7.10308041e-02 -1.71151560e-01] [ 5.16652798e-01 -1.47853348e-03 8.56193728e-01 2.75154236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters Centerline goodness : 0.948583 Centerline is valid? [True, False] Translation: X:13.28, Y:-0.17, Z:2.75 [[ 8.48424619e-01 1.34496063e-01 -5.11943819e-01 1.32761823e+01] [-1.14546400e-01 9.90913438e-01 7.04959584e-02 -1.69934525e-01] [ 5.16773439e-01 -1.16918494e-03 8.56121397e-01 2.75107125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46538475 meters Centerline goodness : 0.944664 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.17, Z:2.75 [[ 8.47548830e-01 1.38318019e-01 -5.12375942e-01 1.32797764e+01] [-1.16874061e-01 9.90383734e-01 7.40304903e-02 -1.69984674e-01] [ 5.17688549e-01 -2.86099816e-03 8.55564364e-01 2.75236702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters Centerline goodness : 0.941983 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.17, Z:2.75 [[ 8.47521380e-01 1.38246451e-01 -5.12440660e-01 1.32803476e+01] [-1.17101751e-01 9.90395192e-01 7.35156005e-02 -1.67915949e-01] [ 5.17682037e-01 -2.29834481e-03 8.55570001e-01 2.75181946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52538475 meters Centerline goodness : 0.942900 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.17, Z:2.75 [[ 8.47446091e-01 1.38429752e-01 -5.12515684e-01 1.32801609e+01] [-1.17306761e-01 9.90369830e-01 7.35304202e-02 -1.67107191e-01] [ 5.17758869e-01 -2.19151231e-03 8.55523788e-01 2.75199277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters Centerline goodness : 0.942275 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.17, Z:2.75 [[ 8.47380656e-01 1.38601646e-01 -5.12577416e-01 1.32799617e+01] [-1.17510008e-01 9.90346046e-01 7.35262297e-02 -1.66354161e-01] [ 5.17819873e-01 -2.07172858e-03 8.55487163e-01 2.75212330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58538475 meters Centerline goodness : 0.942109 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.16, Z:2.75 [[ 8.47386054e-01 1.39089154e-01 -5.12436419e-01 1.32790462e+01] [-1.18113773e-01 9.90278348e-01 7.34706062e-02 -1.64217425e-01] [ 5.17673655e-01 -1.73216838e-03 8.55576406e-01 2.75200781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters Centerline goodness : 0.942609 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.16, Z:2.75 [[ 8.47370516e-01 1.39403146e-01 -5.12376786e-01 1.32784994e+01] [-1.18475554e-01 9.90234482e-01 7.34793454e-02 -1.63194814e-01] [ 5.17616413e-01 -1.56010732e-03 8.55611369e-01 2.75196889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64538475 meters Centerline goodness : 0.943994 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.16, Z:2.75 [[ 8.47433036e-01 1.39940614e-01 -5.12126814e-01 1.32775263e+01] [-1.19018553e-01 9.90158857e-01 7.36207979e-02 -1.61300068e-01] [ 5.17389441e-01 -1.43610365e-03 8.55748856e-01 2.75189649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters Centerline goodness : 0.946815 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.16, Z:2.75 [[ 8.47551105e-01 1.40412215e-01 -5.11802242e-01 1.32764060e+01] [-1.19337517e-01 9.90091763e-01 7.40057985e-02 -1.60998464e-01] [ 5.17122502e-01 -1.64648778e-03 8.55909813e-01 2.75200619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70538475 meters Centerline goodness : 0.949359 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.16, Z:2.75 [[ 8.47487358e-01 1.41131373e-01 -5.11709990e-01 1.32748000e+01] [-1.19700662e-01 9.89988572e-01 7.47955851e-02 -1.61764125e-01] [ 5.17143045e-01 -2.13628804e-03 8.55896318e-01 2.75291488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters Centerline goodness : 0.953372 Centerline is valid? [False, True] Translation: X:13.27, Y:-0.16, Z:2.75 [[ 8.47681803e-01 1.42657367e-01 -5.10964222e-01 1.32708311e+01] [-1.20658081e-01 9.89767848e-01 7.61658327e-02 -1.63038774e-01] [ 5.16601576e-01 -2.91242758e-03 8.56220958e-01 2.75385509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76538475 meters Centerline goodness : 0.954632 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.16, Z:2.76 [[ 8.47726980e-01 1.39059962e-01 -5.11880155e-01 1.32979546e+01] [-1.20473862e-01 9.90280158e-01 6.95072427e-02 -1.63684365e-01] [ 5.16570436e-01 2.74501404e-03 8.56240299e-01 2.76497178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters Centerline goodness : 0.956687 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.17, Z:2.78 [[ 8.47818738e-01 1.38426796e-01 -5.11899804e-01 1.33215523e+01] [-1.19821759e-01 9.90369437e-01 6.93622751e-02 -1.66016791e-01] [ 5.16571518e-01 2.53009841e-03 8.56240308e-01 2.78146396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82538475 meters Centerline goodness : 0.952968 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.17, Z:2.79 [[ 8.47931003e-01 1.37660346e-01 -5.11920544e-01 1.33468112e+01] [-1.19019041e-01 9.90476953e-01 6.92089141e-02 -1.69334084e-01] [ 5.16572824e-01 2.24390853e-03 8.56240318e-01 2.79396692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters Centerline goodness : 0.954740 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.17, Z:2.81 [[ 8.47945656e-01 1.37529048e-01 -5.11931564e-01 1.33711176e+01] [-1.18914932e-01 9.90495155e-01 6.91273172e-02 -1.72674946e-01] [ 5.16572748e-01 2.26009906e-03 8.56240321e-01 2.80839824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88538475000001 meters Centerline goodness : 0.954704 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.48049997e-01 1.36796622e-01 -5.11954965e-01 1.33954757e+01] [-1.18164239e-01 9.90597097e-01 6.89536323e-02 -1.76612935e-01] [ 5.16573726e-01 2.01864132e-03 8.56240334e-01 2.82105326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters Centerline goodness : 0.948124 Centerline is valid? [True, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47823310e-01 1.36126156e-01 -5.12508834e-01 1.33974771e+01] [-1.17243610e-01 9.90690474e-01 6.91832390e-02 -1.79161962e-01] [ 5.17155268e-01 1.43322306e-03 8.55890399e-01 2.82198742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94538475000002 meters Centerline goodness : 0.946641 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47711310e-01 1.35796481e-01 -5.12781484e-01 1.33989361e+01] [-1.16889222e-01 9.90735856e-01 6.91330090e-02 -1.80015740e-01] [ 5.17419022e-01 1.33379510e-03 8.55731136e-01 2.82202432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters Centerline goodness : 0.944545 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47637352e-01 1.34666781e-01 -5.13201499e-01 1.34022684e+01] [-1.15861821e-01 9.90890127e-01 6.86497929e-02 -1.81347733e-01] [ 5.17771145e-01 1.27033122e-03 8.55518222e-01 2.82163345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00538475 meters Centerline goodness : 0.944079 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47561551e-01 1.34882468e-01 -5.13270042e-01 1.34024415e+01] [-1.15780652e-01 9.90861302e-01 6.92005872e-02 -1.82643198e-01] [ 5.17913368e-01 7.74983311e-04 8.55432722e-01 2.82214717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters Centerline goodness : 0.943915 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47459364e-01 1.34884375e-01 -5.13438245e-01 1.34028165e+01] [-1.15617795e-01 9.90861226e-01 6.94734264e-02 -1.83555164e-01] [ 5.18116929e-01 4.86691957e-04 8.55309658e-01 2.82259056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06538475 meters Centerline goodness : 0.945834 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.82 [[ 8.47366847e-01 1.35751830e-01 -5.13362316e-01 1.34012756e+01] [-1.15842198e-01 9.90742744e-01 7.07771128e-02 -1.86039831e-01] [ 5.18218112e-01 -5.05160112e-04 8.55248346e-01 2.82394537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters Centerline goodness : 0.948520 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47339504e-01 1.36886001e-01 -5.13106215e-01 1.33989115e+01] [-1.16443443e-01 9.90586033e-01 7.19738525e-02 -1.87651889e-01] [ 5.18128062e-01 -1.23843415e-03 8.55302155e-01 2.82504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12538475 meters Centerline goodness : 0.948520 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47339504e-01 1.36886001e-01 -5.13106215e-01 1.33989115e+01] [-1.16443443e-01 9.90586033e-01 7.19738525e-02 -1.87651889e-01] [ 5.18128062e-01 -1.23843415e-03 8.55302155e-01 2.82504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15538475 meters Centerline goodness : 0.948401 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47281094e-01 1.37339327e-01 -5.13081531e-01 1.33983087e+01] [-1.16775840e-01 9.90523148e-01 7.23000512e-02 -1.87968634e-01] [ 5.18148773e-01 -1.34293988e-03 8.55289451e-01 2.82525094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18538475 meters Centerline goodness : 0.941634 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.82 [[ 8.47289460e-01 1.36889669e-01 -5.13187870e-01 1.33999081e+01] [-1.16731229e-01 9.90586066e-01 7.15057028e-02 -1.85831189e-01] [ 5.18145146e-01 -6.80977727e-04 8.55292432e-01 2.82429957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21538475 meters Centerline goodness : 0.943691 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.82 [[ 8.47303202e-01 1.36739432e-01 -5.13205233e-01 1.34005770e+01] [-1.16748854e-01 9.90606969e-01 7.11866396e-02 -1.84946160e-01] [ 5.18118701e-01 -4.00544637e-04 8.55308629e-01 2.82384073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24538475 meters Centerline goodness : 0.947694 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47195348e-01 1.36912943e-01 -5.13337013e-01 1.33993947e+01] [-1.16355238e-01 9.90582076e-01 7.21706975e-02 -1.86454053e-01] [ 5.18383547e-01 -1.41322862e-03 8.55147064e-01 2.82584703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27538475 meters Centerline goodness : 0.946656 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47213495e-01 1.37032082e-01 -5.13275270e-01 1.33992266e+01] [-1.16474822e-01 9.90565637e-01 7.22034215e-02 -1.85937329e-01] [ 5.18327030e-01 -1.38806741e-03 8.55181363e-01 2.82582037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30538475 meters Centerline goodness : 0.949440 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47317281e-01 1.37321046e-01 -5.13026661e-01 1.33986063e+01] [-1.16594677e-01 9.90525187e-01 7.25640068e-02 -1.85852270e-01] [ 5.18130395e-01 -1.66855894e-03 8.55300012e-01 2.82600256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33538475 meters Centerline goodness : 0.948830 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47343430e-01 1.37807379e-01 -5.12853038e-01 1.33976963e+01] [-1.16872795e-01 9.90457119e-01 7.30441306e-02 -1.86422344e-01] [ 5.18024963e-01 -1.95489619e-03 8.55363266e-01 2.82630679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36538475 meters Centerline goodness : 0.952681 Centerline is valid? [False, True] Translation: X:13.40, Y:-0.19, Z:2.83 [[ 8.47359078e-01 1.37967264e-01 -5.12784192e-01 1.33975639e+01] [-1.16975959e-01 9.90434712e-01 7.31826892e-02 -1.86226724e-01] [ 5.17976079e-01 -2.02859335e-03 8.55392697e-01 2.82633490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39538475 meters Centerline goodness : 0.952888 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.19, Z:2.84 [[ 8.47257117e-01 1.38812952e-01 -5.12724432e-01 1.34208869e+01] [-1.17712315e-01 9.90316591e-01 7.35993278e-02 -1.90302096e-01] [ 5.17976051e-01 -2.00357468e-03 8.55392773e-01 2.84159069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42538475 meters Centerline goodness : 0.953602 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.19, Z:2.86 [[ 8.47248857e-01 1.38835251e-01 -5.12732043e-01 1.34447940e+01] [-1.17770486e-01 9.90313616e-01 7.35462719e-02 -1.93783689e-01] [ 5.17976338e-01 -1.92729310e-03 8.55392774e-01 2.85847988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45538475 meters Centerline goodness : 0.956538 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.20, Z:2.87 [[ 8.47177988e-01 1.39187486e-01 -5.12753645e-01 1.34673726e+01] [-1.18273517e-01 9.90264859e-01 7.33953946e-02 -1.97910216e-01] [ 5.17977637e-01 -1.53378566e-03 8.55392784e-01 2.87407449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48538475 meters Centerline goodness : 0.954359 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.20, Z:2.89 [[ 8.47140644e-01 1.39386330e-01 -5.12761329e-01 1.34901893e+01] [-1.18538458e-01 9.90237159e-01 7.33416819e-02 -2.01190510e-01] [ 5.17978149e-01 -1.34878248e-03 8.55392786e-01 2.88749104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters Centerline goodness : 0.951770 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.20, Z:2.90 [[ 8.47180973e-01 1.39102032e-01 -5.12771902e-01 1.35153714e+01] [-1.18250920e-01 9.90277014e-01 7.32676953e-02 -2.03869211e-01] [ 5.17977913e-01 -1.43524811e-03 8.55392788e-01 2.89949430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54538475 meters Centerline goodness : 0.950365 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.21, Z:2.91 [[ 8.47252261e-01 1.38584270e-01 -5.12794313e-01 1.35404259e+01] [-1.17740817e-01 9.90349407e-01 7.31105526e-02 -2.07302679e-01] [ 5.17977516e-01 -1.56625951e-03 8.55392799e-01 2.91407942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters Centerline goodness : 0.946181 Centerline is valid? [True, False] Translation: X:13.54, Y:-0.21, Z:2.91 [[ 8.47064104e-01 1.37135778e-01 -5.13494091e-01 1.35444707e+01] [-1.16438864e-01 9.90550984e-01 7.24619779e-02 -2.08725057e-01] [ 5.18579207e-01 -1.58927162e-03 8.55028117e-01 2.91394839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60538475 meters Centerline goodness : 0.942274 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.21, Z:2.91 [[ 8.46974859e-01 1.34982972e-01 -5.14211226e-01 1.35493812e+01] [-1.14378021e-01 9.90846061e-01 7.17060158e-02 -2.11147381e-01] [ 5.19183259e-01 -1.91873037e-03 8.54660788e-01 2.91397337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters Centerline goodness : 0.941226 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.21, Z:2.91 [[ 8.46737985e-01 1.34337499e-01 -5.14770066e-01 1.35512746e+01] [-1.13438594e-01 9.90932290e-01 7.20061272e-02 -2.13625969e-01] [ 5.19775403e-01 -2.57553064e-03 8.54299068e-01 2.91499042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66538475000002 meters Centerline goodness : 0.941081 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.22, Z:2.92 [[ 8.46561606e-01 1.34222915e-01 -5.15089950e-01 1.35519472e+01] [-1.12978543e-01 9.90945948e-01 7.25394798e-02 -2.15933128e-01] [ 5.20162760e-01 -3.21502648e-03 8.54061103e-01 2.91596975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69538475000002 meters Centerline goodness : 0.942897 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.22, Z:2.92 [[ 8.46551446e-01 1.35066440e-01 -5.14886109e-01 1.35502818e+01] [-1.13468666e-01 9.90829719e-01 7.33575433e-02 -2.17704847e-01] [ 5.20072601e-01 -3.67749458e-03 8.54114141e-01 2.91654495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72538475 meters Centerline goodness : 0.947914 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.22, Z:2.92 [[ 8.46759693e-01 1.36879526e-01 -5.14064215e-01 1.35464457e+01] [-1.14970230e-01 9.90580091e-01 7.43836578e-02 -2.17672882e-01] [ 5.19403377e-01 -3.88300215e-03 8.54520365e-01 2.91647807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75538475 meters Centerline goodness : 0.950528 Centerline is valid? [False, True] Translation: X:13.54, Y:-0.22, Z:2.92 [[ 8.46898792e-01 1.38189566e-01 -5.13484254e-01 1.35433919e+01] [-1.16063041e-01 9.90397656e-01 7.51122791e-02 -2.17310984e-01] [ 5.18933335e-01 -4.01595448e-03 8.54805280e-01 2.91659788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78538475 meters Centerline goodness : 0.952381 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.22, Z:2.93 [[ 8.46586296e-01 1.40453905e-01 -5.13385181e-01 1.35667212e+01] [-1.18303680e-01 9.90081303e-01 7.57842507e-02 -2.18402618e-01] [ 5.18937263e-01 -3.42255182e-03 8.54805477e-01 2.93150520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81538475 meters Centerline goodness : 0.951551 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.46332059e-01 1.41935244e-01 -5.13396953e-01 1.35918891e+01] [-1.20084593e-01 9.89872987e-01 7.57044290e-02 -2.19904807e-01] [ 5.18942902e-01 -2.42002090e-03 8.54805480e-01 2.94500081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84538475 meters Centerline goodness : 0.947732 Centerline is valid? [True, False] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.45501954e-01 1.47306142e-01 -5.13251738e-01 1.35923260e+01] [-1.23845952e-01 9.89083044e-01 7.98555759e-02 -2.19495993e-01] [ 5.19411808e-01 -3.95389552e-03 8.54514915e-01 2.94606494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters Centerline goodness : 0.946992 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.45439155e-01 1.47325529e-01 -5.13349611e-01 1.35926486e+01] [-1.24007201e-01 9.89081285e-01 7.96267877e-02 -2.18497751e-01] [ 5.19475552e-01 -3.66055570e-03 8.54477473e-01 2.94587512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90538475 meters Centerline goodness : 0.947570 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.45521603e-01 1.47724332e-01 -5.13099153e-01 1.35921659e+01] [-1.24433080e-01 9.89022247e-01 7.96956936e-02 -2.17851184e-01] [ 5.19239470e-01 -3.53792252e-03 8.54621469e-01 2.94545937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters Centerline goodness : 0.949356 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.45515046e-01 1.48373159e-01 -5.12922717e-01 1.35907963e+01] [-1.24755407e-01 9.88923345e-01 8.04158315e-02 -2.18579472e-01] [ 5.19172800e-01 -4.00291313e-03 8.54659921e-01 2.94612550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96538475 meters Centerline goodness : 0.950943 Centerline is valid? [False, True] Translation: X:13.59, Y:-0.22, Z:2.95 [[ 8.45488595e-01 1.49275746e-01 -5.12704385e-01 1.35885424e+01] [-1.25150050e-01 9.88784209e-01 8.15061502e-02 -2.20038258e-01] [ 5.19120891e-01 -4.74754103e-03 8.54687639e-01 2.94733343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters Centerline goodness : 0.950551 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.22, Z:2.96 [[ 8.45442118e-01 1.46812632e-01 -5.13491652e-01 1.36144097e+01] [-1.25455923e-01 9.89164318e-01 7.62545907e-02 -2.21665468e-01] [ 5.19122757e-01 -4.82733823e-05 8.54699690e-01 2.95898093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02538475 meters Centerline goodness : 0.950032 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.45349249e-01 1.47262532e-01 -5.13515719e-01 1.36394383e+01] [-1.26080940e-01 9.89097351e-01 7.60922238e-02 -2.23366781e-01] [ 5.19122571e-01 4.20040087e-04 8.54699702e-01 2.97282967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters Centerline goodness : 0.947748 Centerline is valid? [True, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.45370554e-01 1.47515853e-01 -5.13407927e-01 1.36392296e+01] [-1.26306665e-01 9.89059601e-01 7.62084757e-02 -2.23125877e-01] [ 5.19032997e-01 4.22441858e-04 8.54754099e-01 2.97272390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08538475 meters Centerline goodness : 0.948180 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.45247380e-01 1.48386221e-01 -5.13359908e-01 1.36379402e+01] [-1.27024786e-01 9.88929415e-01 7.67027790e-02 -2.23737580e-01] [ 5.19058349e-01 3.76609411e-04 8.54738725e-01 2.97303166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters Centerline goodness : 0.948257 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.45218759e-01 1.49108683e-01 -5.13197672e-01 1.36367417e+01] [-1.27608917e-01 9.88820769e-01 7.71326810e-02 -2.23784005e-01] [ 5.18961669e-01 2.94610241e-04 8.54797461e-01 2.97318833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14538475 meters Centerline goodness : 0.946646 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.97 [[ 8.44328143e-01 1.54370356e-01 -5.13107961e-01 1.36372893e+01] [-1.31005690e-01 9.88011521e-01 8.16746227e-02 -2.25700523e-01] [ 5.19564718e-01 -1.74012002e-03 8.54429328e-01 2.97483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters Centerline goodness : 0.947047 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.97 [[ 8.44272205e-01 1.54430804e-01 -5.13181811e-01 1.36377090e+01] [-1.31182572e-01 9.88002487e-01 8.14998074e-02 -2.25184390e-01] [ 5.19610986e-01 -1.48751206e-03 8.54401668e-01 2.97455043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20538475 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.43495410e-01 1.58829983e-01 -5.13116487e-01 1.36407494e+01] [-1.34247251e-01 9.87302122e-01 8.49246517e-02 -2.24871604e-01] [ 5.20089577e-01 -2.74907609e-03 8.54107297e-01 2.97461316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters Centerline goodness : 0.939993 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.42593648e-01 1.63513926e-01 -5.13126826e-01 1.36428512e+01] [-1.37311182e-01 9.86531018e-01 8.88942616e-02 -2.25392576e-01] [ 5.20750980e-01 -4.44368932e-03 8.53697060e-01 2.97566950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26538475 meters Centerline goodness : 0.937576 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.42569632e-01 1.63351057e-01 -5.13218128e-01 1.36444258e+01] [-1.37564869e-01 9.86561127e-01 8.81648942e-02 -2.23979086e-01] [ 5.20722884e-01 -3.68427782e-03 8.53717813e-01 2.97439366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters Centerline goodness : 0.935792 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.42521576e-01 1.63968744e-01 -5.13100034e-01 1.36435944e+01] [-1.38057634e-01 9.86458359e-01 8.85437518e-02 -2.24371622e-01] [ 5.20670225e-01 -3.76264455e-03 8.53749588e-01 2.97448799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32538475 meters Centerline goodness : 0.935086 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.97 [[ 8.42542876e-01 1.65311430e-01 -5.12634015e-01 1.36409319e+01] [-1.39173087e-01 9.86233740e-01 8.92964866e-02 -2.25096003e-01] [ 5.20338691e-01 -3.89126032e-03 8.53951114e-01 2.97452012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters Centerline goodness : 0.935826 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.22, Z:2.97 [[ 8.42519992e-01 1.65587449e-01 -5.12582539e-01 1.36406663e+01] [-1.39423784e-01 9.86187524e-01 8.94157473e-02 -2.24767191e-01] [ 5.20308631e-01 -3.86835739e-03 8.53969534e-01 2.97450890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38538475000001 meters Centerline goodness : 0.933029 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.97 [[ 8.41758830e-01 1.71075833e-01 -5.12030402e-01 1.36413021e+01] [-1.43293903e-01 9.85242911e-01 9.36123010e-02 -2.25090568e-01] [ 5.20489126e-01 -5.42814640e-03 8.53851044e-01 2.97483536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters Centerline goodness : 0.930051 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.40892123e-01 1.76741004e-01 -5.11530111e-01 1.36413044e+01] [-1.47316494e-01 9.84232760e-01 9.78964981e-02 -2.25123989e-01] [ 5.20767019e-01 -6.96357142e-03 8.53670440e-01 2.97554055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44538475000002 meters Centerline goodness : 0.929156 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.40930730e-01 1.77357062e-01 -5.11253342e-01 1.36404099e+01] [-1.47863881e-01 9.84121879e-01 9.81855361e-02 -2.25361195e-01] [ 5.20549498e-01 -6.97133106e-03 8.53803034e-01 2.97526591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47538475 meters Centerline goodness : 0.925991 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.97 [[ 8.41780164e-01 1.74076156e-01 -5.10983021e-01 1.36360835e+01] [-1.45873739e-01 9.84716498e-01 9.51539303e-02 -2.25404664e-01] [ 5.19737441e-01 -5.55968732e-03 8.54307955e-01 2.97461943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50538475 meters Centerline goodness : 0.924413 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.23, Z:2.98 [[ 8.41681588e-01 1.75080430e-01 -5.10802259e-01 1.36339410e+01] [-1.46319650e-01 9.84533597e-01 9.63543304e-02 -2.27067143e-01] [ 5.19771743e-01 -6.35925790e-03 8.54281508e-01 2.97593140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters Centerline goodness : 0.922508 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.23, Z:2.98 [[ 8.42517291e-01 1.70046244e-01 -5.11125121e-01 1.36331888e+01] [-1.42885281e-01 9.85424661e-01 9.23148572e-02 -2.26569819e-01] [ 5.19373094e-01 -4.74460663e-03 8.54534422e-01 2.97508830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56538475 meters Centerline goodness : 0.922781 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.23, Z:2.98 [[ 8.42480762e-01 1.70004381e-01 -5.11199253e-01 1.36332304e+01] [-1.42708085e-01 9.85430631e-01 9.25249949e-02 -2.26795518e-01] [ 5.19481057e-01 -4.99826145e-03 8.54467348e-01 2.97558078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59538475 meters Centerline goodness : 0.919681 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.23, Z:2.98 [[ 8.42398527e-01 1.69669051e-01 -5.11446121e-01 1.36340492e+01] [-1.42226295e-01 9.85486720e-01 9.26693401e-02 -2.27881475e-01] [ 5.19746479e-01 -5.32342868e-03 8.54303961e-01 2.97613063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62538475 meters Centerline goodness : 0.917820 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.42980632e-01 1.66804136e-01 -5.11429403e-01 1.36367989e+01] [-1.39679982e-01 9.85974337e-01 9.13460930e-02 -2.28962188e-01] [ 5.19493173e-01 -5.56653725e-03 8.54456469e-01 2.97590153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65538475 meters Centerline goodness : 0.912085 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.43054997e-01 1.64675423e-01 -5.11996364e-01 1.36409420e+01] [-1.37849468e-01 9.86332415e-01 9.02545960e-02 -2.29293649e-01] [ 5.19861323e-01 -5.51116209e-03 8.54232891e-01 2.97568866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68538475 meters Centerline goodness : 0.910914 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.23, Z:2.98 [[ 8.42836988e-01 1.63722543e-01 -5.12660454e-01 1.36432704e+01] [-1.36843381e-01 9.86489623e-01 9.00672673e-02 -2.30115082e-01] [ 5.20480260e-01 -5.75783441e-03 8.53854289e-01 2.97649229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71538475 meters Centerline goodness : 0.910319 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:2.98 [[ 8.43414681e-01 1.56608339e-01 -5.13931420e-01 1.36472863e+01] [-1.31563991e-01 9.87652191e-01 8.50533081e-02 -2.30538746e-01] [ 5.20905551e-01 -4.12034000e-03 8.53604376e-01 2.97591901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74538475 meters Centerline goodness : 0.914010 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:2.98 [[ 8.43275250e-01 1.56354758e-01 -5.14237341e-01 1.36477922e+01] [-1.31012770e-01 9.87689778e-01 8.54667021e-02 -2.31620521e-01] [ 5.21270091e-01 -4.70029604e-03 8.53378814e-01 2.97710712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77538475 meters Centerline goodness : 0.911777 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:2.98 [[ 8.43174382e-01 1.55873224e-01 -5.14548830e-01 1.36489069e+01] [-1.30251950e-01 9.87762792e-01 8.57851777e-02 -2.33061617e-01] [ 5.21623801e-01 -5.31087565e-03 8.53159073e-01 2.97809685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80538475 meters Centerline goodness : 0.908714 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:2.98 [[ 8.43186393e-01 1.55762769e-01 -5.14562598e-01 1.36496635e+01] [-1.30155907e-01 9.87780202e-01 8.57304630e-02 -2.33069151e-01] [ 5.21628361e-01 -5.31339833e-03 8.53156270e-01 2.97786103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83538475 meters Centerline goodness : 0.905947 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:2.98 [[ 8.42338157e-01 1.60616379e-01 -5.14459724e-01 1.36521762e+01] [-1.33327527e-01 9.86991474e-01 8.98420838e-02 -2.34349888e-01] [ 5.22197472e-01 -7.08577270e-03 8.52795164e-01 2.97853051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86538475 meters Centerline goodness : 0.900551 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:2.98 [[ 8.41392328e-01 1.65948841e-01 -5.14315013e-01 1.36533370e+01] [-1.36758126e-01 9.86092124e-01 9.44433002e-02 -2.36218570e-01] [ 5.22834740e-01 -9.12711089e-03 8.52385201e-01 2.97992733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89538475 meters Centerline goodness : 0.904096 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:2.98 [[ 8.41238983e-01 1.68363754e-01 -5.13780712e-01 1.36500318e+01] [-1.38999665e-01 9.85685202e-01 9.54137118e-02 -2.36571548e-01] [ 5.22490255e-01 -8.85038728e-03 8.52599322e-01 2.97933248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92538475 meters Centerline goodness : 0.910512 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:2.98 [[ 8.41118045e-01 1.69890874e-01 -5.13475925e-01 1.36473992e+01] [-1.40341951e-01 9.85423495e-01 9.61492238e-02 -2.36749624e-01] [ 5.22326116e-01 -8.81063404e-03 8.52700300e-01 2.97944507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95538475 meters Centerline goodness : 0.912476 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.41052057e-01 1.72602205e-01 -5.12679154e-01 1.36432970e+01] [-1.42902630e-01 9.84955268e-01 9.71697404e-02 -2.36577666e-01] [ 5.21737745e-01 -8.46161067e-03 8.53063964e-01 2.97852929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98538475 meters Centerline goodness : 0.907465 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.41045631e-01 1.73403615e-01 -5.12419197e-01 1.36422806e+01] [-1.43620851e-01 9.84814703e-01 9.75348713e-02 -2.36647583e-01] [ 5.21550859e-01 -8.43719627e-03 8.53178478e-01 2.97827450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01538475 meters Centerline goodness : 0.910063 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.40981332e-01 1.74108798e-01 -5.12285591e-01 1.36416769e+01] [-1.44205487e-01 9.84689871e-01 9.79317941e-02 -2.37003576e-01] [ 5.21493219e-01 -8.48441756e-03 8.53213243e-01 2.97819440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04538475 meters Centerline goodness : 0.906477 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.40906923e-01 1.73841928e-01 -5.12498322e-01 1.36422015e+01] [-1.43912900e-01 9.84736317e-01 9.78951605e-02 -2.36719113e-01] [ 5.21693994e-01 -8.56559828e-03 8.53089683e-01 2.97863154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07538475 meters Centerline goodness : 0.906477 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.40906923e-01 1.73841928e-01 -5.12498322e-01 1.36422015e+01] [-1.43912900e-01 9.84736317e-01 9.78951605e-02 -2.36719113e-01] [ 5.21693994e-01 -8.56559828e-03 8.53089683e-01 2.97863154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10538475 meters Centerline goodness : 0.906069 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.41446100e-01 1.72378744e-01 -5.12107440e-01 1.36421817e+01] [-1.42380163e-01 9.84987615e-01 9.76078291e-02 -2.36433137e-01] [ 5.21245000e-01 -9.21778648e-03 8.53357300e-01 2.97934768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13538475000001 meters Centerline goodness : 0.904833 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:2.98 [[ 8.42319799e-01 1.66705332e-01 -5.12549205e-01 1.36420850e+01] [-1.38292448e-01 9.85975864e-01 9.34173079e-02 -2.35020202e-01] [ 5.20934309e-01 -7.80556355e-03 8.53561081e-01 2.97906244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16538475000002 meters Centerline goodness : 0.908513 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:2.99 [[ 0.84374342 0.1605427 -0.51217485 13.64779945] [-0.12935015 0.98691534 0.09626344 -0.2382449 ] [ 0.52092761 -0.01497175 0.85346955 2.99125871] [ 0. 0. 0. 1. ]] SLAMing on 174.19538475000002 meters Centerline goodness : 0.908689 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:3.00 [[ 0.84906742 0.15256285 -0.50577574 13.65427533] [-0.11614137 0.98787628 0.10301278 -0.24037773] [ 0.51535978 -0.02872331 0.85649242 3.00170407] [ 0. 0. 0. 1. ]] SLAMing on 174.22538475 meters Centerline goodness : 0.911619 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.24, Z:3.00 [[ 0.84961379 0.14561375 -0.50690537 13.65728313] [-0.11093498 0.98896862 0.09815548 -0.23982837] [ 0.51560629 -0.02716071 0.85639503 3.00160539] [ 0. 0. 0. 1. ]] SLAMing on 174.25538475 meters Centerline goodness : 0.911977 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.24, Z:3.01 [[ 0.8486271 0.14217989 -0.50952618 13.65366231] [-0.1002579 0.98897453 0.10898501 -0.24049197] [ 0.51940389 -0.04140361 0.85352524 3.00753162] [ 0. 0. 0. 1. ]] SLAMing on 174.28538475 meters Centerline goodness : 0.903691 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.24, Z:3.01 [[ 0.84947652 0.1391334 -0.50895141 13.65583674] [-0.09767308 0.98940087 0.10745176 -0.23984132] [ 0.5185071 -0.0415669 0.8540624 3.00678205] [ 0. 0. 0. 1. ]] SLAMing on 174.31538475 meters Centerline goodness : 0.906162 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.24, Z:3.01 [[ 0.84940793 0.13768204 -0.50946032 13.65783593] [-0.09620508 0.98958959 0.1070375 -0.24005476] [ 0.51889377 -0.04190583 0.85381096 3.00770056] [ 0. 0. 0. 1. ]] SLAMing on 174.34538475 meters Centerline goodness : 0.910867 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.24, Z:3.02 [[ 0.85512059 0.14748253 -0.49700874 13.63762915] [-0.09835194 0.98742235 0.12379013 -0.23822182] [ 0.50901442 -0.05697372 0.85887037 3.01730217] [ 0. 0. 0. 1. ]] SLAMing on 174.37538475 meters Centerline goodness : 0.913128 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.24, Z:3.02 [[ 0.85757348 0.15437868 -0.49064749 13.62478541] [-0.10041492 0.98579046 0.13466257 -0.23595708] [ 0.50446464 -0.06621472 0.86088968 3.02462315] [ 0. 0. 0. 1. ]] SLAMing on 174.40538475 meters Centerline goodness : 0.911814 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.23, Z:3.01 [[ 0.8597473 0.15130737 -0.48779161 13.60675741] [-0.09785431 0.98621397 0.13344113 -0.22875878] [ 0.50125753 -0.06699314 0.86270088 3.01043955] [ 0. 0. 0. 1. ]] SLAMing on 174.43538475 meters Centerline goodness : 0.911261 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.23, Z:3.02 [[ 0.86180042 0.16456374 -0.47981122 13.60671528] [-0.10999043 0.98403157 0.13994279 -0.23105343] [ 0.49517889 -0.06782811 0.86613926 3.01604592] [ 0. 0. 0. 1. ]] SLAMing on 174.46538475 meters Centerline goodness : 0.913369 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.23, Z:3.01 [[ 0.86185578 0.1654551 -0.47940506 13.60528895] [-0.11116781 0.98392998 0.13972655 -0.22940995] [ 0.49481949 -0.06712972 0.86639903 3.01483851] [ 0. 0. 0. 1. ]] SLAMing on 174.49538475 meters Centerline goodness : 0.918347 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.23, Z:3.01 [[ 0.8613105 0.16942325 -0.47899894 13.60102198] [-0.11510555 0.98332021 0.14082638 -0.22751803] [ 0.4948686 -0.0661598 0.86644558 3.01357577] [ 0. 0. 0. 1. ]] SLAMing on 174.52538475 meters Centerline goodness : 0.920657 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:3.00 [[ 0.86573729 0.16891798 -0.47113232 13.59097195] [-0.11439298 0.98319055 0.14230459 -0.2231934 ] [ 0.48725065 -0.06930416 0.87050775 3.0033598 ] [ 0. 0. 0. 1. ]] SLAMing on 174.55538475 meters Centerline goodness : 0.919465 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:3.00 [[ 0.86581442 0.1694997 -0.47078152 13.59021193] [-0.11536723 0.98314957 0.14180029 -0.22162866] [ 0.48688376 -0.06845997 0.87077979 3.00181049] [ 0. 0. 0. 1. ]] SLAMing on 174.58538475 meters Centerline goodness : 0.917021 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:3.00 [[ 0.8656909 0.17133771 -0.47034312 13.5887727 ] [-0.11830619 0.98300922 0.14034427 -0.21933762] [ 0.48639789 -0.06585026 0.87125245 2.99721152] [ 0. 0. 0. 1. ]] SLAMing on 174.61538475 meters Centerline goodness : 0.920504 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.22, Z:2.99 [[ 0.86569156 0.17147028 -0.47029359 13.59020969] [-0.12003944 0.98319899 0.13751467 -0.21646248] [ 0.48597186 -0.06259151 0.87173026 2.99148514] [ 0. 0. 0. 1. ]] SLAMing on 174.64538475 meters Centerline goodness : 0.913119 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.99 [[ 0.86575328 0.17107014 -0.4703257 13.59149242] [-0.1201982 0.9833335 0.13640975 -0.21481037] [ 0.48582265 -0.06156489 0.87188653 2.98974313] [ 0. 0. 0. 1. ]] SLAMing on 174.67538475 meters Centerline goodness : 0.914504 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.99 [[ 0.86643384 0.16615836 -0.47083309 13.59234795] [-0.11777187 0.98440545 0.13067403 -0.21194698] [ 0.48520324 -0.05776951 0.87249097 2.98571256] [ 0. 0. 0. 1. ]] SLAMing on 174.70538475 meters Centerline goodness : 0.916168 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.98 [[ 0.86717477 0.1610218 -0.47125355 13.59213412] [-0.11470462 0.98542318 0.12563441 -0.20951333] [ 0.48461405 -0.05489203 0.87300406 2.98357954] [ 0. 0. 0. 1. ]] SLAMing on 174.73538475 meters Centerline goodness : 0.916422 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.98 [[ 0.86787606 0.15555949 -0.47179698 13.59202995] [-0.11095571 0.98641547 0.12113364 -0.20880979] [ 0.48423133 -0.05278042 0.87334658 2.98272783] [ 0. 0. 0. 1. ]] SLAMing on 174.76538475 meters Centerline goodness : 0.918178 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.98 [[ 0.86867985 0.15022308 -0.47204697 13.59211148] [-0.10743412 0.98736169 0.11651098 -0.20715673] [ 0.48358373 -0.05049679 0.87384029 2.98111848] [ 0. 0. 0. 1. ]] SLAMing on 174.79538475 meters Centerline goodness : 0.919925 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.98 [[ 0.86935596 0.14448153 -0.47259422 13.59294689] [-0.10350196 0.98833082 0.11175656 -0.2049239 ] [ 0.48322619 -0.04824181 0.87416542 2.97996336] [ 0. 0. 0. 1. ]] SLAMing on 174.82538475 meters Centerline goodness : 0.919292 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.86988364 0.13741837 -0.47372845 13.5964731 ] [-0.09824558 0.98943521 0.10661035 -0.20304286] [ 0.48337383 -0.04619688 0.87419425 2.97942549] [ 0. 0. 0. 1. ]] SLAMing on 174.85538475 meters Centerline goodness : 0.919765 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.87029797 0.13077348 -0.47484706 13.59850834] [-0.09312641 0.99040779 0.1020778 -0.20131522] [ 0.4836413 -0.0446173 0.87412836 2.98016755] [ 0. 0. 0. 1. ]] SLAMing on 174.88538475000001 meters Centerline goodness : 0.924809 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.86993697 0.13105097 -0.4754317 13.59867568] [-0.09211517 0.99025919 0.10441045 -0.20289083] [ 0.4844837 -0.04703604 0.87353486 2.9848729 ] [ 0. 0. 0. 1. ]] SLAMing on 174.91538475000002 meters Centerline goodness : 0.929494 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.8705874 0.12541374 -0.47576147 13.59816408] [-0.08801857 0.99106764 0.10018812 -0.20096047] [ 0.48407677 -0.04534667 0.87384974 2.98481621] [ 0. 0. 0. 1. ]] SLAMing on 174.94538475000002 meters Centerline goodness : 0.929282 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87042664 0.12521598 -0.47610757 13.59822171] [-0.08746583 0.99106043 0.10074198 -0.20132258] [ 0.48446588 -0.04604536 0.87359753 2.98648527] [ 0. 0. 0. 1. ]] SLAMing on 174.97538475 meters Centerline goodness : 0.931408 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87032884 0.12532583 -0.47625743 13.59760182] [-0.08722581 0.99101614 0.10138379 -0.2016769 ] [ 0.48468481 -0.0466953 0.87344158 2.98790587] [ 0. 0. 0. 1. ]] SLAMing on 175.00538475 meters Centerline goodness : 0.933025 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87029514 0.12510001 -0.47637838 13.5984299 ] [-0.08708755 0.99105154 0.10115631 -0.20110891] [ 0.48477018 -0.04654922 0.87340199 2.98770518] [ 0. 0. 0. 1. ]] SLAMing on 175.03538475 meters Centerline goodness : 0.932659 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87037036 0.12487143 -0.47630091 13.59957623] [-0.08718352 0.99110757 0.10052273 -0.19973608] [ 0.48461785 -0.04596641 0.87351739 2.9864204 ] [ 0. 0. 0. 1. ]] SLAMing on 175.06538475 meters Centerline goodness : 0.934610 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87039465 0.12578871 -0.47601508 13.5982712 ] [-0.08789167 0.99098018 0.10115997 -0.19972133] [ 0.48444629 -0.04621134 0.87359962 2.98673275] [ 0. 0. 0. 1. ]] SLAMing on 175.09538475 meters Centerline goodness : 0.935784 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.99 [[ 0.87043688 0.12746922 -0.47549052 13.59527192] [-0.0894938 0.9907735 0.10177788 -0.19985662] [ 0.48407696 -0.04603777 0.8738135 2.98641881] [ 0. 0. 0. 1. ]] SLAMing on 175.12538475 meters Centerline goodness : 0.934803 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.99 [[ 0.87041559 0.12828118 -0.4753111 13.59435675] [-0.09030984 0.99067737 0.10199251 -0.19957139] [ 0.48396367 -0.04585061 0.87388608 2.98607937] [ 0. 0. 0. 1. ]] SLAMing on 175.15538475 meters Centerline goodness : 0.935510 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.98 [[ 0.8700787 0.13118736 -0.47513465 13.59239396] [-0.09355763 0.99036284 0.10211966 -0.19738353] [ 0.4839525 -0.04439967 0.87396719 2.98383715] [ 0. 0. 0. 1. ]] SLAMing on 175.18538475 meters Centerline goodness : 0.933743 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.98 [[ 0.870117 0.13131939 -0.47502803 13.59242504] [-0.09401996 0.99037588 0.10156705 -0.19601727] [ 0.48379402 -0.04371311 0.87408953 2.98276133] [ 0. 0. 0. 1. ]] SLAMing on 175.21538475 meters Centerline goodness : 0.928706 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.86993292 0.13014164 -0.47568883 13.59554588] [-0.0930298 0.99054099 0.10086625 -0.19563642] [ 0.48431619 -0.04349364 0.87381127 2.98275397] [ 0. 0. 0. 1. ]] SLAMing on 175.24538475 meters Centerline goodness : 0.930101 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.20, Z:2.98 [[ 0.86981255 0.12920273 -0.47616466 13.59813075] [-0.0923229 0.99067834 0.10016437 -0.19503874] [ 0.48466752 -0.04316333 0.87363283 2.98239835] [ 0. 0. 0. 1. ]] SLAMing on 175.27538475 meters Centerline goodness : 0.928197 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.86959637 0.12792323 -0.47690439 13.60128692] [-0.09123288 0.99085354 0.0994275 -0.19483727] [ 0.48526149 -0.04295243 0.87331345 2.98255618] [ 0. 0. 0. 1. ]] SLAMing on 175.30538475 meters Centerline goodness : 0.927187 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.86941746 0.12756184 -0.47732721 13.60225263] [-0.09078605 0.99089255 0.0994477 -0.19473789] [ 0.48566571 -0.04312692 0.87308012 2.98332771] [ 0. 0. 0. 1. ]] SLAMing on 175.33538475 meters Centerline goodness : 0.929481 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.86936272 0.12734355 -0.47748517 13.60263603] [-0.09062486 0.9909247 0.09927427 -0.19315016] [ 0.48579378 -0.04303332 0.87301348 2.98360504] [ 0. 0. 0. 1. ]] SLAMing on 175.36538475 meters Centerline goodness : 0.929138 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.86924987 0.12714058 -0.47774463 13.60285986] [-0.09037713 0.990947 0.09927744 -0.19272392] [ 0.4860418 -0.04311972 0.87287116 2.98422986] [ 0. 0. 0. 1. ]] SLAMing on 175.39538475 meters Centerline goodness : 0.932353 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.86974612 0.12352985 -0.47778872 13.59986748] [-0.08812332 0.99147993 0.09592619 -0.19041816] [ 0.48556767 -0.04132711 0.87322168 2.98399906] [ 0. 0. 0. 1. ]] SLAMing on 175.42538475 meters Centerline goodness : 0.933965 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.8697269 0.12399269 -0.47770381 13.59850205] [-0.08841981 0.99141242 0.09635011 -0.19033093] [ 0.4855482 -0.0415598 0.87322147 2.98463759] [ 0. 0. 0. 1. ]] SLAMing on 175.45538475 meters Centerline goodness : 0.938916 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.87043085 0.12006717 -0.47742435 13.59535677] [-0.08597551 0.99197322 0.09272187 -0.1887477 ] [ 0.48472502 -0.03966117 0.87376693 2.98386211] [ 0. 0. 0. 1. ]] SLAMing on 175.48538475 meters Centerline goodness : 0.940739 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.19, Z:2.98 [[ 0.87091348 0.11593578 -0.47756529 13.5937403 ] [-0.08339871 0.99254611 0.0888644 -0.18715814] [ 0.48430814 -0.03756488 0.87409068 2.98294565] [ 0. 0. 0. 1. ]] SLAMing on 175.51538475 meters Centerline goodness : 0.942879 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.19, Z:2.98 [[ 0.87096189 0.11614483 -0.47742618 13.59316472] [-0.0834798 0.99251275 0.08916037 -0.18751731] [ 0.48420709 -0.03779985 0.87413653 2.98326441] [ 0. 0. 0. 1. ]] SLAMing on 175.54538475 meters Centerline goodness : 0.943003 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.19, Z:2.98 [[ 0.87091149 0.11567135 -0.47763303 13.59439475] [-0.08313149 0.99257458 0.08879676 -0.18737125] [ 0.48435764 -0.03762777 0.87406054 2.98302563] [ 0. 0. 0. 1. ]] SLAMing on 175.57538475 meters Centerline goodness : 0.942197 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.87078983 0.11489616 -0.47804178 13.59632294] [-0.08248876 0.99267018 0.08832623 -0.18807511] [ 0.48468617 -0.03748051 0.87388474 2.982919 ] [ 0. 0. 0. 1. ]] SLAMing on 175.60538475 meters Centerline goodness : 0.943366 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.8706382 0.1147647 -0.47834945 13.59681297] [-0.08229077 0.99268131 0.08838577 -0.18825433] [ 0.48499212 -0.03758828 0.87371034 2.98349657] [ 0. 0. 0. 1. ]] SLAMing on 175.63538475000001 meters Centerline goodness : 0.940059 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.8706288 0.11441275 -0.47845084 13.59799683] [-0.0822042 0.99273959 0.08780991 -0.18737614] [ 0.48502367 -0.03711917 0.87371289 2.98272508] [ 0. 0. 0. 1. ]] SLAMing on 175.66538475000002 meters Centerline goodness : 0.940006 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.87062303 0.11404245 -0.47854975 13.59923551] [-0.082074 0.99279751 0.08727525 -0.1859284 ] [ 0.48505608 -0.03670735 0.87371229 2.9820774 ] [ 0. 0. 0. 1. ]] SLAMing on 175.69538475000002 meters Centerline goodness : 0.937456 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87051699 0.1129086 -0.4790113 13.6026166 ] [-0.08144344 0.992957 0.08604282 -0.18353628] [ 0.4853526 -0.03588941 0.8735816 2.98087066] [ 0. 0. 0. 1. ]] SLAMing on 175.72538475 meters Centerline goodness : 0.932379 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.87031752 0.11123978 -0.47976361 13.60651938] [-0.080152 0.9931623 0.0848782 -0.18208572] [ 0.48592496 -0.03541697 0.87328264 2.98061885] [ 0. 0. 0. 1. ]] SLAMing on 175.75538475 meters Centerline goodness : 0.931864 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.87019673 0.11109389 -0.48001645 13.6068815 ] [-0.079929 0.99317339 0.08495863 -0.18210954] [ 0.48617795 -0.03556349 0.87313586 2.98121387] [ 0. 0. 0. 1. ]] SLAMing on 175.78538475 meters Centerline goodness : 0.936686 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.87012669 0.11164279 -0.48001607 13.60507404] [-0.08009814 0.99308917 0.08577987 -0.18291072] [ 0.48627546 -0.03619096 0.87305578 2.98279287] [ 0. 0. 0. 1. ]] SLAMing on 175.81538475 meters Centerline goodness : 0.936843 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87011959 0.1120031 -0.47994501 13.60400092] [-0.08027531 0.99303795 0.08620615 -0.18316007] [ 0.48625897 -0.03648193 0.87305285 2.98344266] [ 0. 0. 0. 1. ]] SLAMing on 175.84538475 meters Centerline goodness : 0.938909 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87014207 0.11234985 -0.47982318 13.60291893] [-0.08048014 0.99299065 0.08655938 -0.18333931] [ 0.48618486 -0.03670272 0.87308487 2.98389664] [ 0. 0. 0. 1. ]] SLAMing on 175.87538475 meters Centerline goodness : 0.939100 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87029527 0.1125415 -0.47950032 13.60194371] [-0.08067953 0.99296902 0.08662184 -0.18242204] [ 0.48587751 -0.03670072 0.87325603 2.98380358] [ 0. 0. 0. 1. ]] SLAMing on 175.90538475 meters Centerline goodness : 0.939854 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87031923 0.11239528 -0.47949113 13.60235957] [-0.08063348 0.9929916 0.08640557 -0.18145715] [ 0.48584224 -0.03653739 0.87328251 2.98354541] [ 0. 0. 0. 1. ]] SLAMing on 175.93538475 meters Centerline goodness : 0.939854 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87031923 0.11239528 -0.47949113 13.60235957] [-0.08063348 0.9929916 0.08640557 -0.18145715] [ 0.48584224 -0.03653739 0.87328251 2.98354541] [ 0. 0. 0. 1. ]] SLAMing on 175.96538475 meters Centerline goodness : 0.939772 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87025557 0.11207369 -0.4796819 13.60323455] [-0.08030826 0.9930259 0.08631421 -0.1814728 ] [ 0.48601011 -0.036593 0.87318677 2.98371013] [ 0. 0. 0. 1. ]] SLAMing on 175.99538475 meters Centerline goodness : 0.940100 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87019713 0.11223721 -0.47974969 13.60302544] [-0.08035919 0.99300108 0.08655207 -0.18222814] [ 0.48610632 -0.03676507 0.87312598 2.98406019] [ 0. 0. 0. 1. ]] SLAMing on 176.02538475 meters Centerline goodness : 0.941207 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87084593 0.10752898 -0.4796508 13.6018628 ] [-0.07714039 0.99358537 0.08268895 -0.18256495] [ 0.48546548 -0.03500889 0.87355461 2.98306917] [ 0. 0. 0. 1. ]] SLAMing on 176.05538475 meters Centerline goodness : 0.944601 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.87076425 0.10769782 -0.47976118 13.60112812] [-0.07694736 0.99354313 0.08337361 -0.18511164] [ 0.48564258 -0.03568241 0.8734289 2.98430637] [ 0. 0. 0. 1. ]] SLAMing on 176.08538475 meters Centerline goodness : 0.943301 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.98 [[ 0.87072098 0.10793189 -0.47978712 13.60050741] [-0.07708603 0.99351316 0.08360233 -0.18545116] [ 0.48569818 -0.03580941 0.87339279 2.98476322] [ 0. 0. 0. 1. ]] SLAMing on 176.11538475 meters Centerline goodness : 0.942311 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.99 [[ 0.87002938 0.11242494 -0.4800099 13.60309562] [-0.08020833 0.99295791 0.08718492 -0.1854914 ] [ 0.48643139 -0.03735265 0.87291998 2.98515857] [ 0. 0. 0. 1. ]] SLAMing on 176.14538475 meters Centerline goodness : 0.941791 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.18, Z:2.98 [[ 0.87005515 0.11226619 -0.48000035 13.60449157] [-0.08044669 0.99300438 0.08643278 -0.18334034] [ 0.48634593 -0.03658684 0.87300002 2.98372504] [ 0. 0. 0. 1. ]] SLAMing on 176.17538475 meters Centerline goodness : 0.934458 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.8693622 0.1168164 -0.48017007 13.60747426] [-0.08387889 0.99244156 0.08957724 -0.18183276] [ 0.48700482 -0.03759893 0.87258961 2.98325654] [ 0. 0. 0. 1. ]] SLAMing on 176.20538475 meters Centerline goodness : 0.932758 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86937267 0.11731332 -0.48002995 13.60726706] [-0.08460364 0.99240437 0.08930726 -0.18013581] [ 0.48686075 -0.03702901 0.87269437 2.98235371] [ 0. 0. 0. 1. ]] SLAMing on 176.23538475 meters Centerline goodness : 0.930589 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86866562 0.12322657 -0.47982836 13.60701371] [-0.08892625 0.99162362 0.0936735 -0.18022449] [ 0.4873522 -0.03870161 0.87234742 2.98312471] [ 0. 0. 0. 1. ]] SLAMing on 176.26538475 meters Centerline goodness : 0.929788 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86861699 0.12364762 -0.47980807 13.60698459] [-0.08942384 0.99158156 0.09364502 -0.17937283] [ 0.48734782 -0.03843537 0.87236164 2.98275678] [ 0. 0. 0. 1. ]] SLAMing on 176.29538475 meters Centerline goodness : 0.923231 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86842012 0.12383914 -0.48011495 13.60799467] [-0.0898701 0.99158217 0.09321034 -0.17810878] [ 0.48761652 -0.03779776 0.87223934 2.98205081] [ 0. 0. 0. 1. ]] SLAMing on 176.32538475 meters Centerline goodness : 0.923131 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86837605 0.12383447 -0.48019586 13.60869123] [-0.08995871 0.99159059 0.09303516 -0.17786095] [ 0.48767866 -0.0375917 0.8722135 2.98167225] [ 0. 0. 0. 1. ]] SLAMing on 176.35538475 meters Centerline goodness : 0.922018 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86845132 0.12464926 -0.47984879 13.60742668] [-0.09079182 0.99149545 0.09323958 -0.17718656] [ 0.48739014 -0.03740769 0.87238267 2.98120957] [ 0. 0. 0. 1. ]] SLAMing on 176.38538475000001 meters Centerline goodness : 0.922198 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.8684385 0.1247999 -0.47983284 13.60711661] [-0.09090806 0.99147528 0.09334076 -0.17670847] [ 0.48739132 -0.03744004 0.87238062 2.98139738] [ 0. 0. 0. 1. ]] SLAMing on 176.41538475000002 meters Centerline goodness : 0.923860 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.17, Z:2.98 [[ 0.86908772 0.11968118 -0.4799614 13.60668862] [-0.08746436 0.99218121 0.08903053 -0.17432654] [ 0.48686396 -0.03539582 0.87276034 2.98034357] [ 0. 0. 0. 1. ]] SLAMing on 176.44538475000002 meters Centerline goodness : 0.926540 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.86968712 0.11356419 -0.48036182 13.60688343] [-0.08254083 0.99293016 0.08530364 -0.17526021] [ 0.48665318 -0.03453802 0.87291226 2.98120105] [ 0. 0. 0. 1. ]] SLAMing on 176.47538475 meters Centerline goodness : 0.927369 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.98 [[ 0.87014841 0.10786974 -0.4808387 13.60754141] [-0.07813926 0.99360575 0.08149768 -0.1752741 ] [ 0.48655523 -0.0333427 0.87301333 2.98162764] [ 0. 0. 0. 1. ]] SLAMing on 176.50538475 meters Centerline goodness : 0.932747 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.99 [[ 0.87050285 0.10257438 -0.48135567 13.60642735] [-0.07318351 0.99414489 0.07949909 -0.17852308] [ 0.48669185 -0.03397689 0.87291272 2.98517701] [ 0. 0. 0. 1. ]] SLAMing on 176.53538475 meters Centerline goodness : 0.934850 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.99 [[ 0.87037963 0.10258539 -0.48157609 13.6063166 ] [-0.07263143 0.99410536 0.08049357 -0.18100443] [ 0.48699483 -0.0350824 0.87269998 2.98701336] [ 0. 0. 0. 1. ]] SLAMing on 176.56538475 meters Centerline goodness : 0.935284 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.99 [[ 0.87033235 0.10226802 -0.48172903 13.60669256] [-0.07196422 0.99411057 0.08102674 -0.18233482] [ 0.48717837 -0.03585293 0.87256622 2.98828691] [ 0. 0. 0. 1. ]] SLAMing on 176.59538475 meters Centerline goodness : 0.935823 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.99 [[ 0.87044021 0.10183955 -0.48162491 13.60737839] [-0.07145759 0.99414388 0.0810664 -0.18226797] [ 0.48706022 -0.0361477 0.87262001 2.98838288] [ 0. 0. 0. 1. ]] SLAMing on 176.62538475 meters Centerline goodness : 0.933277 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.18, Z:2.99 [[ 0.87046902 0.1020718 -0.48152366 13.60725319] [-0.0714154 0.99410113 0.08162589 -0.18368343] [ 0.48701492 -0.03666461 0.87262373 2.98875406] [ 0. 0. 0. 1. ]] SLAMing on 176.65538475 meters Centerline goodness : 0.931627 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.19, Z:2.99 [[ 0.87043985 0.10230252 -0.48152742 13.6073576 ] [-0.07136996 0.99405882 0.08217904 -0.18525009] [ 0.4870737 -0.03716531 0.87256974 2.98919131] [ 0. 0. 0. 1. ]] SLAMing on 176.68538475 meters Centerline goodness : 0.932550 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.19, Z:2.99 [[ 0.870312 0.10333346 -0.48153839 13.60702743] [-0.07232427 0.9939568 0.08257767 -0.18618227] [ 0.4871614 -0.03704143 0.87252605 2.98876408] [ 0. 0. 0. 1. ]] SLAMing on 176.71538475 meters Centerline goodness : 0.936163 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.19, Z:2.99 [[ 0.87013867 0.10378466 -0.48175454 13.60704173] [-0.07256989 0.99390024 0.08304172 -0.18679701] [ 0.48743441 -0.03729694 0.87236267 2.98934522] [ 0. 0. 0. 1. ]] SLAMing on 176.74538475 meters Centerline goodness : 0.932319 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.19, Z:2.99 [[ 0.86959713 0.11098442 -0.48112711 13.60455644] [-0.07765728 0.9930258 0.08870803 -0.18953649] [ 0.48761684 -0.03977723 0.87215113 2.99064473] [ 0. 0. 0. 1. ]] SLAMing on 176.77538475 meters Centerline goodness : 0.932747 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.19, Z:2.98 [[ 0.87169817 0.11100328 -0.47730554 13.5868714 ] [-0.07589121 0.99283525 0.09229672 -0.18539401] [ 0.484131 -0.04423159 0.87387685 2.97965184] [ 0. 0. 0. 1. ]] SLAMing on 176.80538475 meters Centerline goodness : 0.927391 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.19, Z:2.98 [[ 0.8709844 0.11742387 -0.47707212 13.58660332] [-0.0807208 0.9920251 0.0968006 -0.1854956 ] [ 0.48463422 -0.04580217 0.87351693 2.9799649 ] [ 0. 0. 0. 1. ]] SLAMing on 176.83538475 meters Centerline goodness : 0.926406 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.18, Z:2.98 [[ 0.87100637 0.1178911 -0.47691675 13.5870056 ] [-0.08145884 0.99199931 0.09644602 -0.18399866] [ 0.48447121 -0.04515601 0.87364099 2.97862269] [ 0. 0. 0. 1. ]] SLAMing on 176.86538475 meters Centerline goodness : 0.925523 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.18, Z:2.98 [[ 0.87095906 0.12018537 -0.47643026 13.58462812] [-0.08396524 0.99176665 0.09668898 -0.18277226] [ 0.48412825 -0.04420856 0.87387954 2.97673823] [ 0. 0. 0. 1. ]] SLAMing on 176.89538475 meters Centerline goodness : 0.921857 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.18, Z:2.98 [[ 0.87098854 0.12079021 -0.47622335 13.5840382 ] [-0.0846728 0.99170772 0.09667638 -0.18205688] [ 0.48395193 -0.04388086 0.8739937 2.97605832] [ 0. 0. 0. 1. ]] SLAMing on 176.92538475 meters Centerline goodness : 0.923331 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.18, Z:2.97 [[ 0.87102749 0.12248507 -0.47571895 13.58172591] [-0.0866156 0.99153722 0.09670404 -0.18065927] [ 0.48353785 -0.04302719 0.8742653 2.97449695] [ 0. 0. 0. 1. ]] SLAMing on 176.95538475 meters Centerline goodness : 0.925642 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.18, Z:2.97 [[ 0.87103719 0.12354773 -0.47542631 13.57956359] [-0.08767342 0.99141455 0.09700809 -0.18055707] [ 0.48332969 -0.04281541 0.87439079 2.97431315] [ 0. 0. 0. 1. ]] SLAMing on 176.98538475 meters Centerline goodness : 0.926548 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.18, Z:2.97 [[ 0.87105153 0.12592752 -0.4747752 13.57522764] [-0.08991258 0.99112404 0.09792278 -0.18073728] [ 0.48289228 -0.04260752 0.87464258 2.97397548] [ 0. 0. 0. 1. ]] SLAMing on 177.01538475 meters Centerline goodness : 0.929052 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.18, Z:2.97 [[ 0.87112119 0.12673537 -0.47443232 13.57373619] [-0.09080979 0.99103492 0.09799679 -0.18032914] [ 0.48259865 -0.04228398 0.87482033 2.97333978] [ 0. 0. 0. 1. ]] SLAMing on 177.04538475 meters Centerline goodness : 0.930714 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.18, Z:2.97 [[ 0.87118833 0.12797632 -0.47397569 13.57189198] [-0.0923163 0.99090827 0.09786982 -0.17920369] [ 0.48219145 -0.04150736 0.87508202 2.97187565] [ 0. 0. 0. 1. ]] SLAMing on 177.07538475 meters Centerline goodness : 0.931615 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.18, Z:2.97 [[ 0.87191245 0.12280783 -0.47401152 13.57146934] [-0.08930074 0.99168473 0.09266489 -0.17725786] [ 0.48144996 -0.03846609 0.87562909 2.96912848] [ 0. 0. 0. 1. ]] SLAMing on 177.10538475 meters Centerline goodness : 0.932709 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.18, Z:2.97 [[ 0.87256194 0.11770663 -0.47411055 13.57096909] [-0.08606041 0.99239648 0.0879934 -0.17559803] [ 0.48086305 -0.03597754 0.87605727 2.96738325] [ 0. 0. 0. 1. ]] SLAMing on 177.13538475000001 meters Centerline goodness : 0.933456 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.17, Z:2.97 [[ 0.87318944 0.11255772 -0.47420562 13.57074363] [-0.0827103 0.99307636 0.08341666 -0.1739691 ] [ 0.48031158 -0.03361686 0.87645347 2.96575725] [ 0. 0. 0. 1. ]] SLAMing on 177.16538475000002 meters Centerline goodness : 0.929557 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.17, Z:2.96 [[ 0.87373244 0.1068904 -0.47451666 13.57167976] [-0.07900393 0.99378729 0.07839139 -0.17161163] [ 0.47994791 -0.03100442 0.87674896 2.96389934] [ 0. 0. 0. 1. ]] SLAMing on 177.19538475000002 meters Centerline goodness : 0.930266 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.17, Z:2.96 [[ 0.87364608 0.10553429 -0.47497899 13.57496464] [-0.07809056 0.99395205 0.07720869 -0.17007301] [ 0.48025451 -0.03036169 0.87660354 2.96299159] [ 0. 0. 0. 1. ]] SLAMing on 177.22538475 meters Centerline goodness : 0.927814 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.96 [[ 0.87353036 0.10490423 -0.47533127 13.57621396] [-0.07751852 0.99401928 0.07691909 -0.16967814] [ 0.48055758 -0.03034418 0.87643804 2.96335225] [ 0. 0. 0. 1. ]] SLAMing on 177.25538475 meters Centerline goodness : 0.927986 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.96 [[ 0.87335899 0.10404636 -0.47583445 13.57755117] [-0.07662673 0.99410314 0.07672872 -0.16927422] [ 0.48101186 -0.03055008 0.87618165 2.96436663] [ 0. 0. 0. 1. ]] SLAMing on 177.28538475 meters Centerline goodness : 0.933050 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.96 [[ 0.87376354 0.09881574 -0.4762066 13.57784634] [-0.0729917 0.99469557 0.07247715 -0.16791943] [ 0.48084248 -0.02856876 0.87634145 2.96367059] [ 0. 0. 0. 1. ]] SLAMing on 177.31538475 meters Centerline goodness : 0.928218 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.96 [[ 0.87342617 0.09719707 -0.47715769 13.58136994] [-0.07140455 0.99484928 0.07194652 -0.16821696] [ 0.48169297 -0.02876874 0.87586771 2.96470409] [ 0. 0. 0. 1. ]] SLAMing on 177.34538475 meters Centerline goodness : 0.929846 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.97 [[ 0.8732064 0.09632619 -0.47773617 13.58323097] [-0.07056245 0.99493187 0.07163456 -0.16825405] [ 0.48221523 -0.02884152 0.87557789 2.96539292] [ 0. 0. 0. 1. ]] SLAMing on 177.37538475 meters Centerline goodness : 0.928640 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.17, Z:2.97 [[ 0.87297032 0.09555212 -0.47832271 13.58509386] [-0.06974225 0.99500067 0.0714821 -0.1684921 ] [ 0.48276168 -0.02904245 0.87527007 2.96624183] [ 0. 0. 0. 1. ]] SLAMing on 177.40538475 meters Centerline goodness : 0.925709 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.17, Z:2.97 [[ 0.87257286 0.09364625 -0.4794236 13.58920382] [-0.06782745 0.99517191 0.07093878 -0.16843547] [ 0.48375205 -0.02938117 0.87471178 2.96767936] [ 0. 0. 0. 1. ]] SLAMing on 177.43538475 meters Centerline goodness : 0.922981 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.17, Z:2.97 [[ 0.87283531 0.08690007 -0.48021548 13.59220674] [-0.06288323 0.995842 0.06591216 -0.16647062] [ 0.48394651 -0.02733296 0.87467061 2.96708061] [ 0. 0. 0. 1. ]] SLAMing on 177.46538475 meters Centerline goodness : 0.919821 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.17, Z:2.97 [[ 0.87256086 0.0860012 -0.48087559 13.59408269] [-0.06179721 0.99590562 0.0659781 -0.1668244 ] [ 0.48458089 -0.02785314 0.8743029 2.96861199] [ 0. 0. 0. 1. ]] SLAMing on 177.49538475 meters Centerline goodness : 0.923070 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.16, Z:2.97 [[ 0.87279291 0.07922218 -0.4816185 13.59678597] [-0.056791 0.99652071 0.06100215 -0.16449072] [ 0.48477553 -0.02589065 0.87425532 2.96829052] [ 0. 0. 0. 1. ]] SLAMing on 177.52538475 meters Centerline goodness : 0.924801 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.16, Z:2.97 [[ 0.87252148 0.07842083 -0.48224107 13.59798657] [-0.05567843 0.99656402 0.06131944 -0.16485579] [ 0.48539282 -0.0266521 0.87388985 2.97024419] [ 0. 0. 0. 1. ]] SLAMing on 177.55538475 meters Centerline goodness : 0.922810 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.16, Z:2.97 [[ 0.87284075 0.07240342 -0.48260416 13.59749945] [-0.05085297 0.99704316 0.05760993 -0.16450653] [ 0.48534834 -0.02574244 0.87394183 2.97174297] [ 0. 0. 0. 1. ]] SLAMing on 177.58538475 meters Centerline goodness : 0.926280 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.17, Z:2.98 [[ 0.87575192 0.07938383 -0.47618985 13.58514304] [-0.05059014 0.99604743 0.07300796 -0.16600832] [ 0.48010333 -0.03984635 0.87630649 2.98432469] [ 0. 0. 0. 1. ]] SLAMing on 177.61538475 meters Centerline goodness : 0.932266 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.99 [[ 0.88086499 0.08704593 -0.46529548 13.58038665] [-0.05507511 0.99511773 0.08189895 -0.17045527] [ 0.47015275 -0.04651572 0.88135843 2.98923495] [ 0. 0. 0. 1. ]] SLAMing on 177.64538475 meters Centerline goodness : 0.932819 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.99 [[ 0.8807294 0.08617473 -0.46571412 13.58145447] [-0.05429708 0.99519605 0.08146567 -0.16897733] [ 0.47049713 -0.0464623 0.88117745 2.98989867] [ 0. 0. 0. 1. ]] SLAMing on 177.67538475 meters Centerline goodness : 0.933727 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.99 [[ 0.88058842 0.08569057 -0.46606991 13.58247465] [-0.05380398 0.99523435 0.0813248 -0.16852519] [ 0.47081756 -0.04653726 0.88100233 2.99043884] [ 0. 0. 0. 1. ]] SLAMing on 177.70538475 meters Centerline goodness : 0.933825 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:2.99 [[ 0.88047326 0.08562972 -0.4662986 13.58267318] [-0.05362445 0.99522919 0.08150636 -0.16914255] [ 0.47105334 -0.04675916 0.88086454 2.99111835] [ 0. 0. 0. 1. ]] SLAMing on 177.73538475 meters Centerline goodness : 0.935561 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.17, Z:3.00 [[ 0.88467946 0.09703461 -0.45598962 13.57712519] [-0.06254089 0.99396011 0.09017724 -0.17305133] [ 0.46198581 -0.05125996 0.88540473 2.99721173] [ 0. 0. 0. 1. ]] SLAMing on 177.76538475 meters Centerline goodness : 0.932449 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.18, Z:3.00 [[ 0.87756775 0.1220582 -0.46365573 13.48102677] [-0.06868314 0.98908223 0.13038013 -0.18017785] [ 0.4745076 -0.08257207 0.87637001 2.99861026] [ 0. 0. 0. 1. ]] SLAMing on 177.79538475 meters Centerline goodness : 0.939424 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.18, Z:2.99 [[ 0.87812274 0.11687939 -0.46393928 13.48170918] [-0.06617782 0.99005244 0.12416382 -0.1756898 ] [ 0.47383641 -0.07832859 0.87712239 2.99403898] [ 0. 0. 0. 1. ]] SLAMing on 177.82538475 meters Centerline goodness : 0.932688 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.99 [[ 0.87801814 0.11534265 -0.46452149 13.48499569] [-0.06522728 0.99030935 0.12260825 -0.17307034] [ 0.47416194 -0.07735279 0.87703307 2.99283271] [ 0. 0. 0. 1. ]] SLAMing on 177.85538475 meters Centerline goodness : 0.934056 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.87851851 0.10984492 -0.46490787 13.48610738] [-0.06168199 0.99114105 0.11762124 -0.1701966 ] [ 0.47370937 -0.074656 0.8775112 2.99086653] [ 0. 0. 0. 1. ]] SLAMing on 177.88538475000001 meters Centerline goodness : 0.934056 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.8785245 0.10983544 -0.46489878 13.48610678] [-0.06168738 0.99114406 0.11759304 -0.17014996] [ 0.47369755 -0.07462998 0.8775198 2.99082727] [ 0. 0. 0. 1. ]] SLAMing on 177.91538475000002 meters Centerline goodness : 0.932587 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.87831438 0.10803207 -0.46571765 13.48931316] [-0.05983693 0.99131519 0.1171057 -0.17060728] [ 0.47432415 -0.0749885 0.87715069 2.99209523] [ 0. 0. 0. 1. ]] SLAMing on 177.94538475000002 meters Centerline goodness : 0.931492 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.8787554 0.10218558 -0.46620495 13.4909297 ] [-0.05570416 0.99209414 0.11245565 -0.16871336] [ 0.47401054 -0.07285145 0.87750024 2.9910097 ] [ 0. 0. 0. 1. ]] SLAMing on 177.97538475 meters Centerline goodness : 0.932643 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.87865965 0.1018364 -0.46646176 13.49135293] [-0.05509667 0.99208833 0.11280557 -0.16954678] [ 0.47425898 -0.07341721 0.87731883 2.99219877] [ 0. 0. 0. 1. ]] SLAMing on 178.00538475 meters Centerline goodness : 0.931885 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.8790423 0.0952202 -0.46713782 13.49289735] [-0.05015486 0.99288412 0.10800749 -0.1690029 ] [ 0.47409822 -0.07151392 0.8775629 2.99205438] [ 0. 0. 0. 1. ]] SLAMing on 178.03538475 meters Centerline goodness : 0.932523 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.99 [[ 0.87898413 0.09435135 -0.46742349 13.49424346] [-0.04919244 0.9929414 0.10792352 -0.16939744] [ 0.47430686 -0.07186936 0.87742111 2.99275107] [ 0. 0. 0. 1. ]] SLAMing on 178.06538475 meters Centerline goodness : 0.932198 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.99 [[ 0.87883002 0.09262254 -0.46805861 13.49715074] [-0.04763027 0.9931076 0.10709178 -0.16866641] [ 0.47475168 -0.07182171 0.87718441 2.99318033] [ 0. 0. 0. 1. ]] SLAMing on 178.09538475 meters Centerline goodness : 0.931168 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.99 [[ 0.87922592 0.08724087 -0.46834902 13.49817761] [-0.04415596 0.99378119 0.10222136 -0.16549318] [ 0.47435433 -0.06919527 0.87761039 2.99128872] [ 0. 0. 0. 1. ]] SLAMing on 178.12538475 meters Centerline goodness : 0.933238 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.87911014 0.08666729 -0.46867274 13.49922822] [-0.04375556 0.99385142 0.10170945 -0.16453926] [ 0.47460595 -0.06890677 0.87749704 2.99128631] [ 0. 0. 0. 1. ]] SLAMing on 178.15538475 meters Centerline goodness : 0.931681 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.87918591 0.0873624 -0.46840149 13.49757294] [-0.04477005 0.99384492 0.10133077 -0.1623116 ] [ 0.47437094 -0.06811823 0.87768566 2.99040354] [ 0. 0. 0. 1. ]] SLAMing on 178.18538475 meters Centerline goodness : 0.933360 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.87926759 0.08823251 -0.46808496 13.49608557] [-0.04573772 0.99379264 0.10141133 -0.16064369] [ 0.47412716 -0.06775856 0.87784521 2.9898299 ] [ 0. 0. 0. 1. ]] SLAMing on 178.21538475 meters Centerline goodness : 0.930334 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.87933545 0.0891787 -0.46777807 13.49616493] [-0.04730247 0.99380763 0.10054284 -0.15718114] [ 0.4738477 -0.06628382 0.87810866 2.98697688] [ 0. 0. 0. 1. ]] SLAMing on 178.24538475 meters Centerline goodness : 0.933399 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.8790058 0.08880752 -0.46846774 13.49737687] [-0.04614858 0.99373473 0.10179197 -0.15903067] [ 0.47457255 -0.06785661 0.87759693 2.99026205] [ 0. 0. 0. 1. ]] SLAMing on 178.27538475 meters Centerline goodness : 0.928527 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.16, Z:2.99 [[ 0.87950667 0.08369765 -0.46846848 13.49676016] [-0.04270137 0.99432102 0.09747976 -0.15836287] [ 0.47396688 -0.06572985 0.87808598 2.98914028] [ 0. 0. 0. 1. ]] SLAMing on 178.30538475 meters Centerline goodness : 0.929136 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:3.02 [[ 0.88103064 0.09524209 -0.46337236 13.50501206] [-0.04106002 0.99122233 0.12566771 -0.16598876] [ 0.47127389 -0.09169103 0.87720789 3.02201663] [ 0. 0. 0. 1. ]] SLAMing on 178.33538475 meters Centerline goodness : 0.926898 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:3.02 [[ 0.88138548 0.08855874 -0.46402262 13.50813984] [-0.03651823 0.99210458 0.11997883 -0.16437816] [ 0.47098414 -0.08880231 0.87766058 3.01980921] [ 0. 0. 0. 1. ]] SLAMing on 178.36538475 meters Centerline goodness : 0.925190 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:3.02 [[ 0.88131821 0.08842902 -0.46417509 13.5088531 ] [-0.03607628 0.99205787 0.12049767 -0.16435118] [ 0.47114404 -0.08945108 0.87750886 3.02097629] [ 0. 0. 0. 1. ]] SLAMing on 178.39538475 meters Centerline goodness : 0.929866 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:3.02 [[ 0.88121427 0.08734023 -0.4645784 13.51062124] [-0.03495377 0.99213183 0.12021926 -0.16373124] [ 0.471423 -0.08970016 0.8773336 3.02179074] [ 0. 0. 0. 1. ]] SLAMing on 178.42538475 meters Centerline goodness : 0.926949 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:3.02 [[ 0.88176067 0.08189851 -0.46453283 13.5111311 ] [-0.03143024 0.99282428 0.11537803 -0.16096634] [ 0.47064876 -0.08713544 0.87800749 3.01969092] [ 0. 0. 0. 1. ]] SLAMing on 178.45538475 meters Centerline goodness : 0.924185 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:3.02 [[ 0.88221021 0.07643973 -0.46460964 13.51148471] [-0.02793149 0.99349277 0.11041716 -0.15778508] [ 0.47002658 -0.0844339 0.87860454 3.0177274 ] [ 0. 0. 0. 1. ]] SLAMing on 178.48538475 meters Centerline goodness : 0.924719 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.15, Z:3.02 [[ 0.88249327 0.07092751 -0.46494615 13.51231883] [-0.024345 0.994127 0.10544587 -0.15440986] [ 0.46969454 -0.08173615 0.87903711 3.01617437] [ 0. 0. 0. 1. ]] SLAMing on 178.51538475 meters Centerline goodness : 0.926700 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.15, Z:3.01 [[ 0.88294248 0.06605084 -0.46481165 13.51226599] [-0.02137247 0.99468237 0.10074821 -0.15111621] [ 0.46899446 -0.0790207 0.87965898 3.0139382 ] [ 0. 0. 0. 1. ]] SLAMing on 178.54538475 meters Centerline goodness : 0.921147 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.15, Z:3.01 [[ 0.88291004 0.06543365 -0.46496053 13.51322927] [-0.02126273 0.99479817 0.09962178 -0.14808652] [ 0.4690605 -0.07807074 0.87970859 3.01288289] [ 0. 0. 0. 1. ]] SLAMing on 178.57538475 meters Centerline goodness : 0.923832 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.15, Z:3.01 [[ 0.88283695 0.06496027 -0.46516565 13.51445395] [-0.02120378 0.99489192 0.09869381 -0.14577052] [ 0.46920073 -0.07726727 0.87970475 3.01190633] [ 0. 0. 0. 1. ]] SLAMing on 178.60538475 meters Centerline goodness : 0.919027 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.14, Z:3.01 [[ 0.88280804 0.06559968 -0.46513079 13.51416563] [-0.02270646 0.99500252 0.09723375 -0.14185406] [ 0.46918481 -0.07527726 0.87988576 3.00908174] [ 0. 0. 0. 1. ]] SLAMing on 178.63538475000001 meters Centerline goodness : 0.914955 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.14, Z:3.01 [[ 0.882795 0.06642775 -0.46503801 13.51277195] [-0.02363299 0.99497807 0.09726316 -0.14057967] [ 0.46916359 -0.07487319 0.87993155 3.00884041] [ 0. 0. 0. 1. ]] SLAMing on 178.66538475000002 meters Centerline goodness : 0.917918 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.14, Z:3.01 [[ 0.88241881 0.0732019 -0.46473489 13.5095917 ] [-0.02889504 0.99438876 0.10176474 -0.13900842] [ 0.46957653 -0.07637059 0.87958252 3.00978929] [ 0. 0. 0. 1. ]] SLAMing on 178.69538475000002 meters Centerline goodness : 0.915919 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.14, Z:3.01 [[ 0.88247884 0.07385411 -0.46451768 13.50860154] [-0.0299036 0.99440725 0.10129167 -0.13634984] [ 0.46940055 -0.07549701 0.87975185 3.00857977] [ 0. 0. 0. 1. ]] SLAMing on 178.72538475 meters Centerline goodness : 0.914612 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.13, Z:3.01 [[ 0.88221926 0.08026621 -0.46394666 13.50668648] [-0.03508842 0.99383001 0.10521745 -0.13416103] [ 0.46952952 -0.07654571 0.87959239 3.00803603] [ 0. 0. 0. 1. ]] SLAMing on 178.75538475 meters Centerline goodness : 0.914391 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.13, Z:3.01 [[ 0.88186646 0.08592466 -0.46360381 13.50629052] [-0.03965465 0.99328712 0.10866554 -0.13089197] [ 0.46982874 -0.07744445 0.87935392 3.00737479] [ 0. 0. 0. 1. ]] SLAMing on 178.78538475 meters Centerline goodness : 0.913425 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.13, Z:3.01 [[ 0.88201588 0.0863506 -0.46324028 13.50553106] [-0.04045135 0.99331245 0.10813911 -0.1287015 ] [ 0.46948022 -0.07664171 0.87961035 3.00601978] [ 0. 0. 0. 1. ]] SLAMing on 178.81538475 meters Centerline goodness : 0.912571 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.13, Z:3.01 [[ 0.88208839 0.08688064 -0.46300304 13.50467328] [-0.04120438 0.99330859 0.10788996 -0.12711119] [ 0.46927845 -0.07609073 0.87976584 3.00519905] [ 0. 0. 0. 1. ]] SLAMing on 178.84538475 meters Centerline goodness : 0.911959 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.13, Z:3.00 [[ 0.88213386 0.08787243 -0.46272917 13.50346491] [-0.04250947 0.9932865 0.1075866 -0.12500596] [ 0.46907653 -0.07523541 0.87994707 3.00395729] [ 0. 0. 0. 1. ]] SLAMing on 178.87538475 meters Centerline goodness : 0.912427 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.12, Z:3.00 [[ 0.88230447 0.08897121 -0.46219362 13.50130116] [-0.04372114 0.99321827 0.10773078 -0.12460826] [ 0.46864409 -0.07484372 0.88021085 3.0031894 ] [ 0. 0. 0. 1. ]] SLAMing on 178.90538475 meters Centerline goodness : 0.916263 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.12, Z:3.00 [[ 0.88284154 0.08509948 -0.46189706 13.49911276] [-0.04152175 0.9937391 0.10372344 -0.1229786 ] [ 0.46783198 -0.07239259 0.88084763 3.00156753] [ 0. 0. 0. 1. ]] SLAMing on 178.93538475 meters Centerline goodness : 0.916853 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:3.00 [[ 0.8835167 0.08204049 -0.46115898 13.49469972] [-0.03991083 0.99414678 0.10039577 -0.1230547 ] [ 0.46669623 -0.0702961 0.88161958 3.00035206] [ 0. 0. 0. 1. ]] SLAMing on 178.96538475 meters Centerline goodness : 0.920519 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:3.00 [[ 0.88396813 0.0788576 -0.46084902 13.4932437 ] [-0.03803351 0.9945354 0.09722546 -0.12139893] [ 0.46599763 -0.0684165 0.88213683 2.99899839] [ 0. 0. 0. 1. ]] SLAMing on 178.99538475 meters Centerline goodness : 0.919272 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:3.00 [[ 0.88401281 0.07962362 -0.46063156 13.49256357] [-0.03899676 0.99451336 0.09706916 -0.12075978] [ 0.46583324 -0.06784724 0.88226761 2.99794832] [ 0. 0. 0. 1. ]] SLAMing on 179.02538475 meters Centerline goodness : 0.916560 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:3.00 [[ 0.88394965 0.07958489 -0.46075944 13.4937356 ] [-0.03918509 0.99455076 0.09660912 -0.11985618] [ 0.46593728 -0.0673427 0.88225133 2.99706333] [ 0. 0. 0. 1. ]] SLAMing on 179.05538475 meters Centerline goodness : 0.915083 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:3.00 [[ 0.88394879 0.07952484 -0.46077147 13.4949035 ] [-0.03944085 0.99460012 0.09599494 -0.11853446] [ 0.46591734 -0.06668139 0.88231209 2.99580152] [ 0. 0. 0. 1. ]] SLAMing on 179.08538475 meters Centerline goodness : 0.910326 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.12, Z:2.99 [[ 0.88379466 0.07963095 -0.46104871 13.49750184] [-0.04004402 0.99466822 0.09503483 -0.11678204] [ 0.46615822 -0.06552903 0.8822712 2.99353954] [ 0. 0. 0. 1. ]] SLAMing on 179.11538475 meters Centerline goodness : 0.903715 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.11, Z:2.99 [[ 0.88375995 0.08099282 -0.46087797 13.49836641] [-0.04215516 0.99468248 0.0939665 -0.11398081] [ 0.46603786 -0.06361544 0.88247481 2.98985152] [ 0. 0. 0. 1. ]] SLAMing on 179.14538475 meters Centerline goodness : 0.903340 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.11, Z:2.99 [[ 0.88371887 0.0817516 -0.46082279 13.49778335] [-0.04290226 0.99463059 0.09417742 -0.11448629] [ 0.4660476 -0.06345602 0.88248115 2.98961612] [ 0. 0. 0. 1. ]] SLAMing on 179.17538475 meters Centerline goodness : 0.905714 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.99 [[ 0.88425062 0.0791147 -0.46026265 13.49416553] [-0.0416412 0.99497748 0.09102648 -0.11664074] [ 0.46515251 -0.06132433 0.88310388 2.98798716] [ 0. 0. 0. 1. ]] SLAMing on 179.20538475 meters Centerline goodness : 0.904427 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.99 [[ 0.88479432 0.07572689 -0.4597874 13.49188874] [-0.03965919 0.99536438 0.08761795 -0.11696283] [ 0.46429104 -0.05928907 0.88369601 2.98645568] [ 0. 0. 0. 1. ]] SLAMing on 179.23538475 meters Centerline goodness : 0.907851 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.98 [[ 0.88538766 0.07133545 -0.45934731 13.49270085] [-0.03629398 0.99574693 0.08468061 -0.12349165] [ 0.4634344 -0.05830363 0.88421108 2.98492622] [ 0. 0. 0. 1. ]] SLAMing on 179.26538475 meters Centerline goodness : 0.907226 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.98 [[ 0.88580908 0.06797952 -0.45904364 13.49034606] [-0.0345408 0.99612655 0.08086303 -0.12374202] [ 0.46276259 -0.05577347 0.88472601 2.98312876] [ 0. 0. 0. 1. ]] SLAMing on 179.29538475 meters Centerline goodness : 0.909768 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.98 [[ 0.88651698 0.06644843 -0.45789982 13.48429614] [-0.03462274 0.99638633 0.07755989 -0.12548539] [ 0.46139886 -0.05290441 0.88561403 2.98011595] [ 0. 0. 0. 1. ]] SLAMing on 179.32538475 meters Centerline goodness : 0.913731 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.98 [[ 0.88664923 0.06792365 -0.45742707 13.48160664] [-0.03600942 0.99629174 0.07814151 -0.12565395] [ 0.46103847 -0.05281242 0.88580719 2.97988424] [ 0. 0. 0. 1. ]] SLAMing on 179.35538475 meters Centerline goodness : 0.911118 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.98 [[ 0.88695447 0.07038671 -0.45646191 13.47804774] [-0.03853084 0.99615048 0.07873746 -0.12516939] [ 0.46024682 -0.05224868 0.88625219 2.97810503] [ 0. 0. 0. 1. ]] SLAMing on 179.38538475000001 meters Centerline goodness : 0.911689 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:2.98 [[ 0.88704677 0.07115912 -0.4561627 13.47750993] [-0.03943781 0.996118 0.07869931 -0.12463679] [ 0.45999206 -0.05181991 0.88640961 2.97702025] [ 0. 0. 0. 1. ]] SLAMing on 179.41538475000002 meters Centerline goodness : 0.910866 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:2.98 [[ 0.88703136 0.07162023 -0.4561205 13.47848938] [-0.04010664 0.99611383 0.07841361 -0.12462727] [ 0.45996394 -0.05126187 0.88645665 2.9756186 ] [ 0. 0. 0. 1. ]] SLAMing on 179.44538475000002 meters Centerline goodness : 0.909456 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.98 [[ 0.88691229 0.07153388 -0.45636553 13.47986757] [-0.0400427 0.99612382 0.07831933 -0.12538192] [ 0.46019906 -0.05118826 0.88633887 2.97537594] [ 0. 0. 0. 1. ]] SLAMing on 179.47538475 meters Centerline goodness : 0.908488 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.98 [[ 0.88672721 0.07095161 -0.45681585 13.48215622] [-0.03954883 0.99617214 0.07795481 -0.1259874 ] [ 0.46059825 -0.05105812 0.886139 2.97523611] [ 0. 0. 0. 1. ]] SLAMing on 179.50538475 meters Centerline goodness : 0.905956 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.98 [[ 0.88648308 0.07013367 -0.45741558 13.48527573] [-0.03876636 0.99622923 0.07761758 -0.12764187] [ 0.46113437 -0.05107434 0.88585919 2.97520078] [ 0. 0. 0. 1. ]] SLAMing on 179.53538475 meters Centerline goodness : 0.907055 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88687198 0.06501608 -0.45741775 13.48504159] [-0.03502105 0.99666081 0.07376143 -0.12843897] [ 0.46068602 -0.0493977 0.88618748 2.97477261] [ 0. 0. 0. 1. ]] SLAMing on 179.56538475 meters Centerline goodness : 0.909592 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:2.97 [[ 0.88726245 0.06045536 -0.45728601 13.4836126 ] [-0.03193254 0.99704585 0.06985611 -0.12753643] [ 0.4601583 -0.0473784 0.88657184 2.97405858] [ 0. 0. 0. 1. ]] SLAMing on 179.59538475 meters Centerline goodness : 0.910642 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88717964 0.05956298 -0.45756369 13.48511304] [-0.03103975 0.99709113 0.0696119 -0.12734551] [ 0.46037899 -0.0475556 0.88644777 2.97457552] [ 0. 0. 0. 1. ]] SLAMing on 179.62538475 meters Centerline goodness : 0.911824 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88710986 0.05878237 -0.45779987 13.48697514] [-0.03043592 0.99714826 0.06905796 -0.12647752] [ 0.46055374 -0.04732844 0.88636915 2.97422379] [ 0. 0. 0. 1. ]] SLAMing on 179.65538475 meters Centerline goodness : 0.913118 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.98 [[ 0.886777 0.05802618 -0.45854064 13.48967546] [-0.02951843 0.99717282 0.06910154 -0.12761304] [ 0.46125396 -0.04774226 0.88598277 2.97527933] [ 0. 0. 0. 1. ]] SLAMing on 179.68538475 meters Centerline goodness : 0.912114 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88712531 0.05312536 -0.45846088 13.48909311] [-0.02617515 0.99754555 0.06494409 -0.12743647] [ 0.46078579 -0.04561326 0.88633847 2.97426833] [ 0. 0. 0. 1. ]] SLAMing on 179.71538475 meters Centerline goodness : 0.916196 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88742888 0.0484789 -0.45838824 13.48834407] [-0.02307058 0.99787898 0.06087107 -0.12602636] [ 0.46036695 -0.04344347 0.88666506 2.97331877] [ 0. 0. 0. 1. ]] SLAMing on 179.74538475 meters Centerline goodness : 0.916196 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88742888 0.0484789 -0.45838824 13.48834407] [-0.02307058 0.99787898 0.06087107 -0.12602636] [ 0.46036695 -0.04344347 0.88666506 2.97331877] [ 0. 0. 0. 1. ]] SLAMing on 179.77538475 meters Centerline goodness : 0.916140 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.8877818 0.04337119 -0.45821656 13.48880206] [-0.01965106 0.99821429 0.05640977 -0.12552639] [ 0.45984488 -0.04107512 0.88704877 2.97149325] [ 0. 0. 0. 1. ]] SLAMing on 179.80538475 meters Centerline goodness : 0.918969 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88760083 0.04306225 -0.45859613 13.49010055] [-0.01926982 0.9982202 0.0564368 -0.12640586] [ 0.46021021 -0.04125628 0.88685088 2.97201693] [ 0. 0. 0. 1. ]] SLAMing on 179.83538475 meters Centerline goodness : 0.921434 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88751807 0.04312098 -0.45875076 13.49065872] [-0.01927762 0.99821458 0.05653342 -0.12727431] [ 0.46036947 -0.04133081 0.88676475 2.97216231] [ 0. 0. 0. 1. ]] SLAMing on 179.86538475 meters Centerline goodness : 0.918545 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88795707 0.03957276 -0.45822073 13.4883346 ] [-0.01729044 0.99845949 0.05272269 -0.12594047] [ 0.45960122 -0.03889265 0.8872734 2.97040981] [ 0. 0. 0. 1. ]] SLAMing on 179.89538475 meters Centerline goodness : 0.923580 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88793597 0.03988454 -0.45823459 13.48785497] [-0.01749063 0.9984407 0.0530117 -0.12586497] [ 0.45963441 -0.03905619 0.88724902 2.97086891] [ 0. 0. 0. 1. ]] SLAMing on 179.92538475 meters Centerline goodness : 0.924742 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 0.88787457 0.03967849 -0.45837142 13.48874539] [-0.01723707 0.99844357 0.05304077 -0.12578605] [ 0.45976258 -0.03919257 0.8871766 2.97118886] [ 0. 0. 0. 1. ]] SLAMing on 179.95538475 meters Centerline goodness : 0.923744 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.97 [[ 8.87946824e-01 3.35214785e-02 -4.58722953e-01 1.34911961e+01] [-1.28360595e-02 9.98758202e-01 4.81382351e-02 -1.24480266e-01] [ 4.59766977e-01 -3.68559979e-02 8.87274457e-01 2.97004375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98538475 meters Centerline goodness : 0.925474 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.13, Z:2.97 [[ 8.87596833e-01 3.25086497e-02 -4.59472577e-01 1.34937652e+01] [-1.17780433e-02 9.98782049e-01 4.79134184e-02 -1.25005681e-01] [ 4.60470563e-01 -3.71161105e-02 8.86898672e-01 2.97104631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01538475 meters Centerline goodness : 0.923700 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.12, Z:2.97 [[ 8.87393162e-01 2.55576749e-02 -4.60304445e-01 1.34987270e+01] [-6.81019547e-03 9.99079907e-01 4.23433637e-02 -1.23056120e-01] [ 4.60963120e-01 -3.44404482e-02 8.86750730e-01 2.96955502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04538475 meters Centerline goodness : 0.922397 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.12, Z:2.97 [[ 8.87054014e-01 2.43288477e-02 -4.61024167e-01 1.35018823e+01] [-5.57611257e-03 9.99102262e-01 4.19949650e-02 -1.23191300e-01] [ 4.61631977e-01 -3.46810796e-02 8.86393333e-01 2.97031990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07538475 meters Centerline goodness : 0.925077 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.12, Z:2.97 [[ 8.86745483e-01 1.74321257e-02 -4.61929182e-01 1.35056847e+01] [-1.76381680e-04 9.99301381e-01 3.73727019e-02 -1.22527197e-01] [ 4.62257955e-01 -3.30585988e-02 8.86129060e-01 2.97093980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10538475 meters Centerline goodness : 0.924654 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.97 [[ 8.89826062e-01 1.91817089e-02 -4.55896525e-01 1.34914512e+01] [ 2.16926408e-03 9.98926913e-01 4.62635529e-02 -1.23333290e-01] [ 4.56294723e-01 -4.21554750e-02 8.88829591e-01 2.97432625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13538475000001 meters Centerline goodness : 0.924761 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.12, Z:2.98 [[ 8.89465161e-01 1.80174585e-02 -4.56647675e-01 1.34935904e+01] [ 3.41844313e-03 9.98932259e-01 4.60722954e-02 -1.23051629e-01] [ 4.56990199e-01 -4.25407258e-02 8.88453851e-01 2.97584378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16538475000002 meters Centerline goodness : 0.922289 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.12, Z:2.98 [[ 8.94461736e-01 2.85383664e-02 -4.46232859e-01 1.34725257e+01] [ 9.06723623e-04 9.97843382e-01 6.56335567e-02 -1.24753900e-01] [ 4.47143579e-01 -5.91113149e-02 8.92506847e-01 2.98493182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19538475000002 meters Centerline goodness : 0.923724 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.12, Z:2.99 [[ 8.98743595e-01 3.24751751e-02 -4.37270297e-01 1.34561906e+01] [ 2.24181269e-03 9.96900129e-01 7.86454539e-02 -1.24061186e-01] [ 4.38468840e-01 -7.16623761e-02 8.95884803e-01 2.98855652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22538475 meters Centerline goodness : 0.917237 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.13, Z:3.00 [[ 9.03483175e-01 4.23476939e-02 -4.26526466e-01 1.34364615e+01] [-8.35282103e-04 9.95279446e-01 9.70470284e-02 -1.26384782e-01] [ 4.28622743e-01 -8.73240874e-02 8.99253606e-01 2.99691468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25538475 meters Centerline goodness : 0.921509 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.13, Z:3.00 [[ 9.09378321e-01 5.10812110e-02 -4.12821728e-01 1.34289318e+01] [-7.70829326e-03 9.94330378e-01 1.06055089e-01 -1.31765099e-01] [ 4.15898607e-01 -9.32620477e-02 9.04616239e-01 2.99760669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28538475 meters Centerline goodness : 0.921938 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.14, Z:3.00 [[ 0.91330069 0.05897211 -0.40299397 13.42869302] [-0.01497751 0.99365569 0.11146322 -0.13588385] [ 0.40701048 -0.09576359 0.90838968 3.00015995] [ 0. 0. 0. 1. ]] SLAMing on 180.31538475 meters Centerline goodness : 0.922603 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.14, Z:3.00 [[ 0.91756617 0.07172057 -0.39106072 13.42512773] [-0.02641624 0.992419 0.12002793 -0.14112316] [ 0.39670456 -0.09980321 0.91250469 3.00134138] [ 0. 0. 0. 1. ]] SLAMing on 180.34538475 meters Centerline goodness : 0.924477 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.15, Z:3.01 [[ 0.92056033 0.08352123 -0.38156636 13.42377145] [-0.0369899 0.99112206 0.12770596 -0.14670237] [ 0.388845 -0.10344694 0.91547709 3.00574992] [ 0. 0. 0. 1. ]] SLAMing on 180.37538475 meters Centerline goodness : 0.922435 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:3.01 [[ 0.92341643 0.09118442 -0.37281026 13.42524043] [-0.04480897 0.99033798 0.13123581 -0.15052212] [ 0.38117482 -0.10448006 0.91858025 3.0087955 ] [ 0. 0. 0. 1. ]] SLAMing on 180.40538475 meters Centerline goodness : 0.927375 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.15, Z:3.01 [[ 0.92697612 0.0999564 -0.36155773 13.41984074] [-0.0531733 0.98912538 0.13712619 -0.15467034] [ 0.37133257 -0.10788748 0.92221061 3.01326755] [ 0. 0. 0. 1. ]] SLAMing on 180.43538475 meters Centerline goodness : 0.930157 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:3.02 [[ 0.93018442 0.10728351 -0.35106579 13.41858772] [-0.06030258 0.98800645 0.1421508 -0.15842326] [ 0.3621057 -0.11105629 0.92549768 3.0161433 ] [ 0. 0. 0. 1. ]] SLAMing on 180.46538475 meters Centerline goodness : 0.927290 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:3.02 [[ 0.93358315 0.11603296 -0.33905583 13.41570983] [-0.06864162 0.98651156 0.14860443 -0.16226204] [ 0.35172551 -0.11546125 0.92895526 3.01801812] [ 0. 0. 0. 1. ]] SLAMing on 180.49538475 meters Centerline goodness : 0.927966 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:3.02 [[ 0.93578899 0.12449954 -0.32984669 13.41831301] [-0.07655415 0.98500673 0.15460017 -0.16480234] [ 0.34414886 -0.11942201 0.9312894 3.02085732] [ 0. 0. 0. 1. ]] SLAMing on 180.52538475 meters Centerline goodness : 0.926620 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.17, Z:3.02 [[ 0.93903332 0.13380603 -0.31672128 13.41663399] [-0.08521623 0.98299931 0.16263624 -0.16766622] [ 0.33309851 -0.12573105 0.93447155 3.02090316] [ 0. 0. 0. 1. ]] SLAMing on 180.55538475 meters Centerline goodness : 0.927409 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.17, Z:3.02 [[ 0.94175303 0.14081611 -0.30540474 13.41659539] [-0.0923002 0.98147049 0.1679177 -0.17168375] [ 0.32339126 -0.12994808 0.93730016 3.02227643] [ 0. 0. 0. 1. ]] SLAMing on 180.58538475 meters Centerline goodness : 0.927596 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.18, Z:3.02 [[ 0.94404507 0.14849873 -0.29449456 13.41593677] [-0.10035642 0.97990019 0.1724071 -0.17538989] [ 0.31417751 -0.13320565 0.93997274 3.02483808] [ 0. 0. 0. 1. ]] SLAMing on 180.61538475 meters Centerline goodness : 0.930193 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.18, Z:3.03 [[ 0.9468008 0.15587874 -0.28154939 13.41108556] [-0.10739999 0.97775576 0.18016358 -0.17854816] [ 0.30337021 -0.14034062 0.94248131 3.02936892] [ 0. 0. 0. 1. ]] SLAMing on 180.64538475 meters Centerline goodness : 0.927495 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.18, Z:3.02 [[ 0.94949727 0.16153976 -0.26899786 13.40964126] [-0.11581751 0.97718787 0.17801736 -0.18390482] [ 0.29161833 -0.13787234 0.94654634 3.02374473] [ 0. 0. 0. 1. ]] SLAMing on 180.67538475 meters Centerline goodness : 0.929462 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:3.03 [[ 0.95215175 0.16418206 -0.2577815 13.3950784 ] [-0.11693525 0.97497976 0.18905188 -0.18533599] [ 0.28237067 -0.14986234 0.94752735 3.03360688] [ 0. 0. 0. 1. ]] SLAMing on 180.70538475 meters Centerline goodness : 0.934717 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:3.03 [[ 0.95395586 0.16734282 -0.2489269 13.39945745] [-0.12197942 0.9746163 0.18773407 -0.18971331] [ 0.27402417 -0.14872605 0.95015331 3.03146095] [ 0. 0. 0. 1. ]] SLAMing on 180.73538475 meters Centerline goodness : 0.935436 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.19, Z:3.03 [[ 0.95520726 0.17421175 -0.23922659 13.40163689] [-0.13008964 0.97325955 0.18932126 -0.19356064] [ 0.26581155 -0.14972014 0.95232773 3.03250306] [ 0. 0. 0. 1. ]] SLAMing on 180.76538475 meters Centerline goodness : 0.931173 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.20, Z:3.03 [[ 0.95709459 0.18541281 -0.2226927 13.39327824] [-0.1434205 0.97086961 0.19194468 -0.19839097] [ 0.25179458 -0.15177052 0.95580605 3.02733058] [ 0. 0. 0. 1. ]] SLAMing on 180.79538475 meters Centerline goodness : 0.931885 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.20, Z:3.02 [[ 0.95787315 0.19228346 -0.21332159 13.39499608] [-0.15284474 0.9701695 0.18817444 -0.20406585] [ 0.24314094 -0.14764216 0.95868883 3.02099658] [ 0. 0. 0. 1. ]] SLAMing on 180.82538475 meters Centerline goodness : 0.931885 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.21, Z:3.02 [[ 0.9588539 0.19943489 -0.20205178 13.39569896] [-0.16086266 0.96808906 0.19216339 -0.20838189] [ 0.2339282 -0.15175403 0.9603376 3.0218126 ] [ 0. 0. 0. 1. ]] SLAMing on 180.85538475 meters Centerline goodness : 0.930758 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.21, Z:3.02 [[ 0.9594747 0.20407632 -0.19432229 13.4001868 ] [-0.16756809 0.96761199 0.18880673 -0.21348946] [ 0.22655956 -0.14859306 0.9625959 3.01578712] [ 0. 0. 0. 1. ]] SLAMing on 180.88538475000001 meters Centerline goodness : 0.932732 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.22, Z:3.01 [[ 0.96030463 0.21349557 -0.17954012 13.39493685] [-0.17964017 0.96569894 0.18749656 -0.2192288 ] [ 0.21341139 -0.1478012 0.96571755 3.00892338] [ 0. 0. 0. 1. ]] SLAMing on 180.91538475000002 meters Centerline goodness : 0.933522 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.21, Z:3.00 [[ 0.96062387 0.20999383 -0.18194607 13.39065385] [-0.17813292 0.96800479 0.17673535 -0.21400134] [ 0.213238 -0.13736561 0.96729532 2.99983027] [ 0. 0. 0. 1. ]] SLAMing on 180.94538475000002 meters Centerline goodness : 0.938375 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.21, Z:2.99 [[ 0.96053881 0.20900325 -0.18352886 13.38332268] [-0.17884345 0.96943236 0.16797597 -0.20706203] [ 0.21302634 -0.1285245 0.96855626 2.9926888 ] [ 0. 0. 0. 1. ]] SLAMing on 180.97538475 meters Centerline goodness : 0.939107 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.20, Z:2.99 [[ 0.96089497 0.20674672 -0.18421903 13.38130935] [-0.17784828 0.97067907 0.16171619 -0.20259723] [ 0.21225185 -0.12262923 0.96949019 2.98754555] [ 0. 0. 0. 1. ]] SLAMing on 181.00538475 meters Centerline goodness : 0.941366 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.20, Z:2.98 [[ 0.96025374 0.20829425 -0.18581243 13.37296263] [-0.18086776 0.97134826 0.15417331 -0.19625222] [ 0.21260199 -0.11443801 0.97041452 2.97984525] [ 0. 0. 0. 1. ]] SLAMing on 181.03538475 meters Centerline goodness : 0.942648 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.19, Z:2.98 [[ 0.96010327 0.20850671 -0.18635093 13.37133813] [-0.18181322 0.97174022 0.15054869 -0.19289613] [ 0.2124751 -0.11066123 0.97088023 2.97557561] [ 0. 0. 0. 1. ]] SLAMing on 181.06538475 meters Centerline goodness : 0.944525 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.19, Z:2.97 [[ 0.95925617 0.21182185 -0.18697355 13.36515641] [-0.18619449 0.97167273 0.14554626 -0.18822174] [ 0.21250698 -0.1048027 0.97152312 2.96766692] [ 0. 0. 0. 1. ]] SLAMing on 181.09538475 meters Centerline goodness : 0.944476 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.19, Z:2.97 [[ 0.95910305 0.21242492 -0.18707485 13.36530475] [-0.18709779 0.97170603 0.14415897 -0.18630082] [ 0.21240472 -0.10326202 0.97171045 2.96506054] [ 0. 0. 0. 1. ]] SLAMing on 181.12538475 meters Centerline goodness : 0.942279 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.18, Z:2.95 [[ 0.95739194 0.21719702 -0.19033163 13.35450284] [-0.19340422 0.97165369 0.13595555 -0.18123053] [ 0.21446557 -0.09335181 0.97226023 2.95377294] [ 0. 0. 0. 1. ]] SLAMing on 181.15538475 meters Centerline goodness : 0.940111 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.18, Z:2.95 [[ 0.95711851 0.21800337 -0.19078438 13.35574405] [-0.19434279 0.97157007 0.1352127 -0.17922643] [ 0.21483722 -0.09233701 0.97227509 2.95185765] [ 0. 0. 0. 1. ]] SLAMing on 181.18538475 meters Centerline goodness : 0.938658 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.18, Z:2.94 [[ 0.95568861 0.22371849 -0.19133562 13.35013945] [-0.20081478 0.97070159 0.13195398 -0.17572711] [ 0.21525033 -0.0876839 0.97261443 2.94363326] [ 0. 0. 0. 1. ]] SLAMing on 181.21538475 meters Centerline goodness : 0.937273 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.94 [[ 0.95540419 0.22508167 -0.19115721 13.34810725] [-0.20256817 0.9705527 0.13035944 -0.17411602] [ 0.21486967 -0.08582359 0.9728645 2.94084245] [ 0. 0. 0. 1. ]] SLAMing on 181.24538475 meters Centerline goodness : 0.935498 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.17, Z:2.94 [[ 0.95552442 0.22407653 -0.19173626 13.34431971] [-0.20238715 0.97112433 0.12632096 -0.17316982] [ 0.21450531 -0.08189781 0.97328322 2.93918525] [ 0. 0. 0. 1. ]] SLAMing on 181.27538475 meters Centerline goodness : 0.939897 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.17, Z:2.94 [[ 0.95623832 0.2202597 -0.19259786 13.3432892 ] [-0.19927384 0.97225557 0.1225114 -0.17329914] [ 0.21423867 -0.07877038 0.97360003 2.93933097] [ 0. 0. 0. 1. ]] SLAMing on 181.30538475 meters Centerline goodness : 0.935736 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.94 [[ 0.95705174 0.21509124 -0.19439066 13.34678412] [-0.19515307 0.97380512 0.11669989 -0.17215625] [ 0.21439974 -0.0737519 0.9739576 2.93557188] [ 0. 0. 0. 1. ]] SLAMing on 181.33538475 meters Centerline goodness : 0.935479 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.93 [[ 0.95781853 0.21018522 -0.19597407 13.34952089] [-0.19114991 0.9751886 0.11166428 -0.17089397] [ 0.21458186 -0.06949369 0.9742306 2.93323608] [ 0. 0. 0. 1. ]] SLAMing on 181.36538475 meters Centerline goodness : 0.934994 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.93 [[ 0.95861498 0.2055204 -0.19702456 13.35098339] [-0.18740073 0.97646272 0.10677788 -0.16956945] [ 0.21433217 -0.06543633 0.97456647 2.93117063] [ 0. 0. 0. 1. ]] SLAMing on 181.39538475 meters Centerline goodness : 0.938993 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.93 [[ 0.95935525 0.20120096 -0.19787795 13.35101098] [-0.18387696 0.97758739 0.1025288 -0.16861581] [ 0.21407188 -0.06197635 0.97484981 2.93057657] [ 0. 0. 0. 1. ]] SLAMing on 181.42538475 meters Centerline goodness : 0.941635 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.93 [[ 0.9608145 0.19254691 -0.19940205 13.35113772] [-0.17685332 0.97974763 0.09390145 -0.16722611] [ 0.21344413 -0.05495696 0.97540829 2.9286621 ] [ 0. 0. 0. 1. ]] SLAMing on 181.45538475 meters Centerline goodness : 0.940202 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.17, Z:2.93 [[ 0.96145052 0.1882878 -0.20040112 13.35237791] [-0.17352383 0.98079892 0.08901098 -0.16504776] [ 0.21331289 -0.05080528 0.97566205 2.92648128] [ 0. 0. 0. 1. ]] SLAMing on 181.48538475 meters Centerline goodness : 0.936454 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96140609 0.18716805 -0.20165924 13.35673299] [-0.17254498 0.98106617 0.08796247 -0.16421688] [ 0.21430482 -0.04977237 0.9754979 2.92496545] [ 0. 0. 0. 1. ]] SLAMing on 181.51538475 meters Centerline goodness : 0.934815 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96125142 0.18700008 -0.20255043 13.35957758] [-0.17250896 0.98114605 0.08713836 -0.1634163 ] [ 0.21502644 -0.04882011 0.97538722 2.92329469] [ 0. 0. 0. 1. ]] SLAMing on 181.54538475 meters Centerline goodness : 0.932846 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96174272 0.1832348 -0.20365644 13.36079732] [-0.16979593 0.98208156 0.08176278 -0.1608502 ] [ 0.21498902 -0.04405473 0.97562232 2.91993799] [ 0. 0. 0. 1. ]] SLAMing on 181.57538475 meters Centerline goodness : 0.931026 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96144573 0.18410837 -0.20426994 13.36114807] [-0.17061713 0.98192311 0.08195604 -0.16131789] [ 0.21566617 -0.04394434 0.97547783 2.92013264] [ 0. 0. 0. 1. ]] SLAMing on 181.60538475 meters Centerline goodness : 0.930483 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96187364 0.18059069 -0.20539257 13.36159622] [-0.16799721 0.98274959 0.07733161 -0.15921387] [ 0.21581483 -0.03987786 0.97561966 2.91837 ] [ 0. 0. 0. 1. ]] SLAMing on 181.63538475000001 meters Centerline goodness : 0.929019 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.92 [[ 0.96170514 0.18087105 -0.20593418 13.36245347] [-0.16826398 0.98270497 0.07731862 -0.15885837] [ 0.21635724 -0.03970641 0.97550651 2.91846653] [ 0. 0. 0. 1. ]] SLAMing on 181.66538475000002 meters Centerline goodness : 0.924553 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.16, Z:2.92 [[ 0.96139063 0.18074858 -0.20750424 13.36661864] [-0.16841466 0.98279811 0.07579165 -0.15671818] [ 0.217634 -0.03791862 0.97529361 2.91598779] [ 0. 0. 0. 1. ]] SLAMing on 181.69538475000002 meters Centerline goodness : 0.924553 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.16, Z:2.92 [[ 0.96139063 0.18074858 -0.20750424 13.36661864] [-0.16841466 0.98279811 0.07579165 -0.15671818] [ 0.217634 -0.03791862 0.97529361 2.91598779] [ 0. 0. 0. 1. ]] SLAMing on 181.72538475 meters Centerline goodness : 0.919397 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 0.96116233 0.18044923 -0.20881825 13.37043851] [-0.16838738 0.9829154 0.07431688 -0.15454528] [ 0.21866109 -0.03626823 0.97512663 2.91357794] [ 0. 0. 0. 1. ]] SLAMing on 181.75538475 meters Centerline goodness : 0.913848 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 0.96156034 0.17722601 -0.20974426 13.37076707] [-0.16606028 0.98363904 0.06984429 -0.15200308] [ 0.21869087 -0.03232931 0.97525849 2.91155804] [ 0. 0. 0. 1. ]] SLAMing on 181.78538475 meters Centerline goodness : 0.919895 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 0.96182533 0.1746952 -0.21065046 13.36962651] [-0.16428805 0.9841971 0.06607201 -0.14987647] [ 0.21886403 -0.02894238 0.97532603 2.9112201 ] [ 0. 0. 0. 1. ]] SLAMing on 181.81538475 meters Centerline goodness : 0.917563 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 0.9622542 0.17153679 -0.21128652 13.36861299] [-0.16198051 0.98485257 0.06186868 -0.14768034] [ 0.21869883 -0.0253091 0.97546413 2.91021065] [ 0. 0. 0. 1. ]] SLAMing on 181.84538475 meters Centerline goodness : 0.919283 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 0.96245691 0.16938007 -0.21210161 13.36653728] [-0.16052325 0.98530093 0.0584325 -0.14594423] [ 0.21888121 -0.02219152 0.97549913 2.91049813] [ 0. 0. 0. 1. ]] SLAMing on 181.87538475 meters Centerline goodness : 0.920380 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 0.96287415 0.16631026 -0.21263648 13.36544401] [-0.15825876 0.98589442 0.05446424 -0.14400899] [ 0.21869508 -0.01879062 0.97561231 2.90965755] [ 0. 0. 0. 1. ]] SLAMing on 181.90538475 meters Centerline goodness : 0.922126 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 0.96269154 0.16689095 -0.21300799 13.36562902] [-0.15879404 0.98579552 0.05469595 -0.14337389] [ 0.21911058 -0.01883093 0.9755183 2.91012991] [ 0. 0. 0. 1. ]] SLAMing on 181.93538475 meters Centerline goodness : 0.921339 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 0.9625889 0.1670995 -0.21330814 13.36623586] [-0.1589835 0.98576049 0.0547768 -0.14291084] [ 0.21942392 -0.01881507 0.97544817 2.91026258] [ 0. 0. 0. 1. ]] SLAMing on 181.96538475 meters Centerline goodness : 0.919120 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 0.96294914 0.16369077 -0.21432287 13.36684613] [-0.15634735 0.98638989 0.05089695 -0.14120825] [ 0.21973727 -0.01550236 0.97543591 2.90943611] [ 0. 0. 0. 1. ]] SLAMing on 181.99538475 meters Centerline goodness : 0.915954 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 0.96270215 0.16405358 -0.21515342 13.36766112] [-0.15665443 0.98632946 0.05112317 -0.1414393 ] [ 0.2205991 -0.01551165 0.97524121 2.91026217] [ 0. 0. 0. 1. ]] SLAMing on 182.02538475 meters Centerline goodness : 0.914596 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.63051279e-01 1.61041817e-01 -2.15865158e-01 1.33670451e+01] [-1.54386563e-01 9.86869928e-01 4.74608758e-02 -1.39992760e-01] [ 2.20674019e-01 -1.23805773e-02 9.75269039e-01 2.90974999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05538475 meters Centerline goodness : 0.914423 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.63462466e-01 1.57463086e-01 -2.16668995e-01 1.33674054e+01] [-1.51542272e-01 9.87480620e-01 4.37831625e-02 -1.39559122e-01] [ 2.20850665e-01 -9.34892188e-03 9.75262827e-01 2.90898967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08538475 meters Centerline goodness : 0.906929 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.63257740e-01 1.57369000e-01 -2.17645407e-01 1.33698546e+01] [-1.51477247e-01 9.87498560e-01 4.36031755e-02 -1.40603251e-01] [ 2.21786314e-01 -9.03276931e-03 9.75053455e-01 2.90838304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11538475 meters Centerline goodness : 0.904867 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.63146579e-01 1.57467539e-01 -2.18065680e-01 1.33710165e+01] [-1.51550440e-01 9.87482702e-01 4.37078553e-02 -1.41134121e-01] [ 2.22218655e-01 -9.04912177e-03 9.74954862e-01 2.90816730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14538475 meters Centerline goodness : 0.896538 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62891487e-01 1.58286661e-01 -2.18598530e-01 1.33718662e+01] [-1.52327883e-01 9.87351915e-01 4.39591993e-02 -1.42033033e-01] [ 2.22791833e-01 -9.02928732e-03 9.74824226e-01 2.90773019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17538475 meters Centerline goodness : 0.895119 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62650354e-01 1.59724895e-01 -2.18614394e-01 1.33706915e+01] [-1.53636632e-01 9.87116538e-01 4.46847368e-02 -1.43330106e-01] [ 2.22935149e-01 -9.42859840e-03 9.74787680e-01 2.90810122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20538475 meters Centerline goodness : 0.895320 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62487592e-01 1.60346278e-01 -2.18876009e-01 1.33703516e+01] [-1.54137299e-01 9.87011831e-01 4.52696299e-02 -1.44409349e-01] [ 2.23292027e-01 -9.83450032e-03 9.74701982e-01 2.90889125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23538475 meters Centerline goodness : 0.898202 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62860484e-01 1.57952683e-01 -2.18976341e-01 1.33674336e+01] [-1.52459322e-01 9.87422351e-01 4.18718862e-02 -1.43250065e-01] [ 2.22835910e-01 -6.93180005e-03 9.74831322e-01 2.90879206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26538475 meters Centerline goodness : 0.902821 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.63090689e-01 1.57001278e-01 -2.18647945e-01 1.33609902e+01] [-1.52030740e-01 9.87586807e-01 3.94835652e-02 -1.42940429e-01] [ 2.22132796e-01 -4.78504500e-03 9.75004679e-01 2.91064795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29538475 meters Centerline goodness : 0.906878 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62963115e-01 1.57731333e-01 -2.18684398e-01 1.33598496e+01] [-1.52641130e-01 9.87468244e-01 4.00893007e-02 -1.42870492e-01] [ 2.22267237e-01 -5.22428425e-03 9.74971785e-01 2.91190167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32538475 meters Centerline goodness : 0.905008 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62820275e-01 1.58449402e-01 -2.18794206e-01 1.33595749e+01] [-1.53353208e-01 9.87353688e-01 4.01931270e-02 -1.41584773e-01] [ 2.22395843e-01 -5.14596428e-03 9.74942874e-01 2.91203255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35538475 meters Centerline goodness : 0.905809 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62720511e-01 1.58453870e-01 -2.19229533e-01 1.33613452e+01] [-1.53445063e-01 9.87355302e-01 3.98010216e-02 -1.40004162e-01] [ 2.22764068e-01 -4.67757034e-03 9.74861165e-01 2.91115465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38538475000001 meters Centerline goodness : 0.900053 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62646742e-01 1.58507087e-01 -2.19514813e-01 1.33621006e+01] [-1.53515007e-01 9.87347379e-01 3.97277754e-02 -1.39648217e-01] [ 2.23034509e-01 -4.54499543e-03 9.74799954e-01 2.91097590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41538475000002 meters Centerline goodness : 0.901269 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62529205e-01 1.58841393e-01 -2.19788400e-01 1.33621797e+01] [-1.53783141e-01 9.87292696e-01 4.00484378e-02 -1.40216877e-01] [ 2.23356832e-01 -4.74804033e-03 9.74725183e-01 2.91158894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44538475000002 meters Centerline goodness : 0.901671 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62470359e-01 1.58539334e-01 -2.20263677e-01 1.33634405e+01] [-1.53444138e-01 9.87340703e-01 4.01650603e-02 -1.40869232e-01] [ 2.23843036e-01 -4.85951008e-03 9.74613093e-01 2.91186189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47538475 meters Centerline goodness : 0.899235 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.14, Z:2.91 [[ 9.62359830e-01 1.58563246e-01 -2.20728918e-01 1.33642516e+01] [-1.53425124e-01 9.87336364e-01 4.03439774e-02 -1.41189213e-01] [ 2.24330759e-01 -4.96006175e-03 9.74500440e-01 2.91226762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50538475 meters Centerline goodness : 0.903831 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62294087e-01 1.58354585e-01 -2.21164905e-01 1.33659168e+01] [-1.53219813e-01 9.87370202e-01 4.02960771e-02 -1.41583652e-01] [ 2.24752706e-01 -4.88983124e-03 9.74403567e-01 2.91178742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53538475 meters Centerline goodness : 0.897726 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62242059e-01 1.57834372e-01 -2.21762331e-01 1.33679927e+01] [-1.52673504e-01 9.87453160e-01 4.03368001e-02 -1.42744389e-01] [ 2.25346448e-01 -4.95653349e-03 9.74266088e-01 2.91160591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56538475 meters Centerline goodness : 0.898196 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.62080430e-01 1.58109290e-01 -2.22267181e-01 1.33686758e+01] [-1.52913429e-01 9.87409040e-01 4.05076651e-02 -1.43804221e-01] [ 2.25873262e-01 -4.98399509e-03 9.74143947e-01 2.91176281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59538475 meters Centerline goodness : 0.898421 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.61960703e-01 1.58530609e-01 -2.22485172e-01 1.33686702e+01] [-1.53303529e-01 9.87341252e-01 4.06851389e-02 -1.43983534e-01] [ 2.26118628e-01 -5.02974287e-03 9.74086786e-01 2.91205833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62538475 meters Centerline goodness : 0.901813 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.61881669e-01 1.59017532e-01 -2.22479389e-01 1.33680430e+01] [-1.53675950e-01 9.87260593e-01 4.12337672e-02 -1.44744940e-01] [ 2.26202025e-01 -5.47227335e-03 9.74065038e-01 2.91278905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65538475 meters Centerline goodness : 0.911033 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.15, Z:2.91 [[ 9.63097167e-01 1.50775565e-01 -2.22958689e-01 1.33648492e+01] [-1.46795014e-01 9.88567930e-01 3.44190494e-02 -1.46282968e-01] [ 2.25599361e-01 -4.19665172e-04 9.74220074e-01 2.91405882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68538475 meters Centerline goodness : 0.914117 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 9.63665848e-01 1.45984856e-01 -2.23688522e-01 1.33653771e+01] [-1.42813557e-01 9.89283225e-01 3.03807344e-02 -1.45910213e-01] [ 2.25726429e-01 2.66887735e-03 9.74187075e-01 2.91384446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71538475 meters Centerline goodness : 0.910553 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.15, Z:2.91 [[ 9.63659918e-01 1.44706120e-01 -2.24543318e-01 1.33691725e+01] [-1.41687623e-01 9.89469165e-01 2.95869861e-02 -1.45474519e-01] [ 2.26460107e-01 3.30321639e-03 9.74014840e-01 2.91266568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74538475 meters Centerline goodness : 0.907974 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.14, Z:2.91 [[ 9.63659263e-01 1.43974734e-01 -2.25015781e-01 1.33716481e+01] [-1.41050154e-01 9.89574485e-01 2.91065614e-02 -1.44969917e-01] [ 2.26860485e-01 3.68970306e-03 9.73920277e-01 2.91173293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77538475 meters Centerline goodness : 0.904929 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.91 [[ 9.63750970e-01 1.42187215e-01 -2.25758420e-01 1.33757048e+01] [-1.39388693e-01 9.89831192e-01 2.83725950e-02 -1.44590366e-01] [ 2.27496946e-01 4.12405514e-03 9.73770061e-01 2.91086322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80538475 meters Centerline goodness : 0.907000 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.15, Z:2.91 [[ 9.63754465e-01 1.41569402e-01 -2.26131457e-01 1.33773052e+01] [-1.38767097e-01 9.89919916e-01 2.83240618e-02 -1.45035968e-01] [ 2.27861854e-01 4.08216494e-03 9.73684914e-01 2.91082834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83538475 meters Centerline goodness : 0.908590 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.15, Z:2.91 [[ 9.64342436e-01 1.35601272e-01 -2.27279478e-01 1.33791016e+01] [-1.33483743e-01 9.90742270e-01 2.47355116e-02 -1.47207679e-01] [ 2.28529553e-01 6.48461195e-03 9.73515379e-01 2.91215828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86538475 meters Centerline goodness : 0.912925 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.15, Z:2.91 [[ 9.64873431e-01 1.30736586e-01 -2.27875419e-01 1.33795784e+01] [-1.29390254e-01 9.91373379e-01 2.09041974e-02 -1.47824272e-01] [ 2.28642567e-01 9.31495358e-03 9.73465874e-01 2.91208935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89538475 meters Centerline goodness : 0.912846 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.15, Z:2.91 [[ 9.65324197e-01 1.24893577e-01 -2.29239590e-01 1.33828273e+01] [-1.24452299e-01 9.92089381e-01 1.64403369e-02 -1.47236820e-01] [ 2.29479455e-01 1.26591389e-02 9.73231178e-01 2.91167578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92538475 meters Centerline goodness : 0.912603 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.15, Z:2.91 [[ 9.65297320e-01 1.24033458e-01 -2.29819028e-01 1.33849945e+01] [-1.23573906e-01 9.92199031e-01 1.64491018e-02 -1.48006482e-01] [ 2.30066456e-01 1.25213610e-02 9.73094364e-01 2.91187567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95538475 meters Centerline goodness : 0.915511 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.91 [[ 9.65262415e-01 1.22764883e-01 -2.30645301e-01 1.33874643e+01] [-1.22127445e-01 9.92367200e-01 1.70946940e-02 -1.49629378e-01] [ 2.30983459e-01 1.16672556e-02 9.72887721e-01 2.91380749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98538475 meters Centerline goodness : 0.913243 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.91 [[ 9.65236237e-01 1.21586849e-01 -2.31377710e-01 1.33897874e+01] [-1.20924829e-01 9.92514436e-01 1.70961829e-02 -1.50095213e-01] [ 2.31724388e-01 1.14774547e-02 9.72713769e-01 2.91471115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01538475 meters Centerline goodness : 0.913651 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.92 [[ 9.65194349e-01 1.21088631e-01 -2.31813313e-01 1.33911907e+01] [-1.20404006e-01 9.92576758e-01 1.71538694e-02 -1.50179005e-01] [ 2.32169645e-01 1.13544337e-02 9.72609034e-01 2.91506758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04538475 meters Centerline goodness : 0.914937 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.92 [[ 9.65130545e-01 1.20056447e-01 -2.32614445e-01 1.33938894e+01] [-1.19492237e-01 9.92696879e-01 1.65684139e-02 -1.48371866e-01] [ 2.32904779e-01 1.18049381e-02 9.72427893e-01 2.91509717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07538475 meters Centerline goodness : 0.914419 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.92 [[ 9.65091717e-01 1.20115809e-01 -2.32744859e-01 1.33943107e+01] [-1.19571261e-01 9.92688499e-01 1.65002490e-02 -1.47417464e-01] [ 2.33025086e-01 1.19053427e-02 9.72397847e-01 2.91509769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10538475 meters Centerline goodness : 0.914647 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.92 [[ 9.65000542e-01 1.19938396e-01 -2.33213927e-01 1.33956171e+01] [-1.19431532e-01 9.92707858e-01 1.63467705e-02 -1.45170526e-01] [ 2.33473903e-01 1.20784542e-02 9.72288048e-01 2.91551090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13538475000001 meters Centerline goodness : 0.915475 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.92 [[ 9.64928786e-01 1.19820165e-01 -2.33571332e-01 1.33961601e+01] [-1.19240167e-01 9.92725728e-01 1.66556870e-02 -1.45028161e-01] [ 2.33867957e-01 1.17795328e-02 9.72197007e-01 2.91645586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16538475000002 meters Centerline goodness : 0.917465 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.92 [[ 9.64828743e-01 1.20814418e-01 -2.33472426e-01 1.33941169e+01] [-1.20033212e-01 9.92613747e-01 1.76061869e-02 -1.44714348e-01] [ 2.33875021e-01 1.10374902e-02 9.72204016e-01 2.91863956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19538475000002 meters Centerline goodness : 0.920722 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.92 [[ 9.64769602e-01 1.21260393e-01 -2.33485613e-01 1.33938602e+01] [-1.20429611e-01 9.92561084e-01 1.78662789e-02 -1.44434044e-01] [ 2.33915205e-01 1.08817387e-02 9.72196104e-01 2.91886043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22538475 meters Centerline goodness : 0.921654 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.92 [[ 9.64660536e-01 1.22317833e-01 -2.33384657e-01 1.33932346e+01] [-1.21452015e-01 9.92431649e-01 1.81336783e-02 -1.43496278e-01] [ 2.33836392e-01 1.08521930e-02 9.72215394e-01 2.91871994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25538475 meters Centerline goodness : 0.920106 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.92 [[ 9.64593739e-01 1.22746912e-01 -2.33435461e-01 1.33933310e+01] [-1.21864759e-01 9.92378820e-01 1.82553770e-02 -1.43503514e-01] [ 2.33897198e-01 1.08385338e-02 9.72200919e-01 2.91845288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28538475 meters Centerline goodness : 0.924434 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.92 [[ 9.65087050e-01 1.17976754e-01 -2.33855665e-01 1.33928441e+01] [-1.17722907e-01 9.92931752e-01 1.50948291e-02 -1.46301372e-01] [ 2.33983554e-01 1.29623448e-02 9.72154141e-01 2.91962057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31538475 meters Centerline goodness : 0.924464 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.92 [[ 9.64979742e-01 1.17444035e-01 -2.34565548e-01 1.33942276e+01] [-1.16835032e-01 9.93013571e-01 1.65415652e-02 -1.49103933e-01] [ 2.34869481e-01 1.14431980e-02 9.71959557e-01 2.92236209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34538475 meters Centerline goodness : 0.923914 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.92 [[ 9.65433312e-01 1.11447040e-01 -2.35622744e-01 1.33973145e+01] [-1.11841882e-01 9.93656763e-01 1.17315805e-02 -1.48325269e-01] [ 2.35435583e-01 1.50264324e-02 9.71773787e-01 2.92121311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37538475 meters Centerline goodness : 0.925149 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.92 [[ 9.65382186e-01 1.10319972e-01 -2.36361459e-01 1.34003022e+01] [-1.10772669e-01 9.93780321e-01 1.14056500e-02 -1.48156745e-01] [ 2.36149638e-01 1.51715783e-02 9.71598256e-01 2.92102244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40538475 meters Centerline goodness : 0.926204 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.92 [[ 9.65290621e-01 1.08790450e-01 -2.37441900e-01 1.34045705e+01] [-1.09357044e-01 9.93943591e-01 1.08247152e-02 -1.46703204e-01] [ 2.37181480e-01 1.55169484e-02 9.71341428e-01 2.92090381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43538475 meters Centerline goodness : 0.926486 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.15, Z:2.92 [[ 9.65229706e-01 1.07892563e-01 -2.38098321e-01 1.34064063e+01] [-1.08475799e-01 9.94041595e-01 1.06915131e-02 -1.45513400e-01] [ 2.37833169e-01 1.55081396e-02 9.71182208e-01 2.92193602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46538475 meters Centerline goodness : 0.927431 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.65126141e-01 1.07823694e-01 -2.38548912e-01 1.34070522e+01] [-1.08333703e-01 9.94053595e-01 1.10117558e-02 -1.44860570e-01] [ 2.38317731e-01 1.52151536e-02 9.71068050e-01 2.92306061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49538475 meters Centerline goodness : 0.926560 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.64987851e-01 1.07935362e-01 -2.39057326e-01 1.34079294e+01] [-1.08476147e-01 9.94038922e-01 1.09337224e-02 -1.42973317e-01] [ 2.38812422e-01 1.53811084e-02 9.70943896e-01 2.92357578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52538475 meters Centerline goodness : 0.927615 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.64899764e-01 1.08088029e-01 -2.39343734e-01 1.34085844e+01] [-1.08629024e-01 9.94021821e-01 1.09705819e-02 -1.42137929e-01] [ 2.39098683e-01 1.54141643e-02 9.70872918e-01 2.92366835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55538475 meters Centerline goodness : 0.927615 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.64899764e-01 1.08088029e-01 -2.39343734e-01 1.34085844e+01] [-1.08629024e-01 9.94021821e-01 1.09705819e-02 -1.42137929e-01] [ 2.39098683e-01 1.54141643e-02 9.70872918e-01 2.92366835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58538475 meters Centerline goodness : 0.927668 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.64813260e-01 1.08467589e-01 -2.39520678e-01 1.34087422e+01] [-1.09041171e-01 9.93977508e-01 1.08966597e-02 -1.40121232e-01] [ 2.39260101e-01 1.56043735e-02 9.70830113e-01 2.92387674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61538475 meters Centerline goodness : 0.926516 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.92 [[ 9.64738559e-01 1.09717399e-01 -2.39252179e-01 1.34072949e+01] [-1.10188167e-01 9.93844796e-01 1.14493956e-02 -1.39376382e-01] [ 2.39035731e-01 1.53170856e-02 9.70889956e-01 2.92430294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64538475 meters Centerline goodness : 0.931290 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.15, Z:2.94 [[ 9.64909975e-01 1.10006078e-01 -2.38426934e-01 1.34121169e+01] [-1.08236090e-01 9.93912908e-01 2.05445671e-02 -1.45809198e-01] [ 2.39235634e-01 5.98274133e-03 9.70943108e-01 2.93596904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67538475 meters Centerline goodness : 0.931523 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.15, Z:2.94 [[ 9.64783840e-01 1.10303177e-01 -2.38799815e-01 1.34125343e+01] [-1.08366539e-01 9.93883528e-01 2.12656159e-02 -1.46642818e-01] [ 2.39684867e-01 5.36118680e-03 9.70835940e-01 2.93710089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70538475 meters Centerline goodness : 0.930716 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.15, Z:2.95 [[ 9.64645664e-01 1.09998794e-01 -2.39497408e-01 1.34221019e+01] [-1.06180391e-01 9.93928871e-01 2.88292227e-02 -1.51095280e-01] [ 2.41214568e-01 -2.38005641e-03 9.70468891e-01 2.94545555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73538475 meters Centerline goodness : 0.929889 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.15, Z:2.95 [[ 9.64541131e-01 1.09726232e-01 -2.40042830e-01 1.34238155e+01] [-1.05681625e-01 9.93956446e-01 2.96981196e-02 -1.51795966e-01] [ 2.41850781e-01 -3.27694150e-03 9.70307921e-01 2.94709660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76538475 meters Centerline goodness : 0.929973 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64394820e-01 1.09429812e-01 -2.40764920e-01 1.34253782e+01] [-1.05155343e-01 9.93985800e-01 3.05709437e-02 -1.53998481e-01] [ 2.42662284e-01 -4.16474198e-03 9.70101887e-01 2.94855860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79538475 meters Centerline goodness : 0.930689 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64330034e-01 1.09300880e-01 -2.41082771e-01 1.34257993e+01] [-1.04965570e-01 9.93999023e-01 3.07923967e-02 -1.54010928e-01] [ 2.43001675e-01 -4.38864254e-03 9.70015941e-01 2.94939262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82538475 meters Centerline goodness : 0.931286 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64276747e-01 1.08476980e-01 -2.41667334e-01 1.34278210e+01] [-1.04127633e-01 9.94088894e-01 3.07360761e-02 -1.53887130e-01] [ 2.43572969e-01 -4.47383601e-03 9.69872256e-01 2.94993766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85538475 meters Centerline goodness : 0.930404 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64191913e-01 1.08011495e-01 -2.42213691e-01 1.34294850e+01] [-1.03572425e-01 9.94137926e-01 3.10247920e-02 -1.54481813e-01] [ 2.44144850e-01 -4.82719421e-03 9.69726761e-01 2.95061871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88538475000001 meters Centerline goodness : 0.930062 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64015620e-01 1.08000490e-01 -2.42919284e-01 1.34309880e+01] [-1.03739343e-01 9.94142738e-01 3.03045351e-02 -1.51077567e-01] [ 2.44769347e-01 -4.01375816e-03 9.69573028e-01 2.95060174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91538475000002 meters Centerline goodness : 0.930429 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.63969705e-01 1.07866534e-01 -2.43160889e-01 1.34319413e+01] [-1.03640243e-01 9.94157896e-01 3.01459307e-02 -1.49940479e-01] [ 2.44992055e-01 -3.85851022e-03 9.69517408e-01 2.95047200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94538475000002 meters Centerline goodness : 0.934617 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.15, Z:2.95 [[ 9.64457434e-01 1.02694933e-01 -2.43465825e-01 1.34325472e+01] [-9.92437922e-02 9.94712009e-01 2.64327422e-02 -1.50658342e-01] [ 2.44892888e-01 -1.33078302e-03 9.69549226e-01 2.95050918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97538475 meters Centerline goodness : 0.938024 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.16, Z:2.96 [[ 9.67033146e-01 1.05985667e-01 -2.31546827e-01 1.34290949e+01] [-1.00689558e-01 9.94315837e-01 3.46067673e-02 -1.56210195e-01] [ 2.33898498e-01 -1.01515434e-02 9.72208022e-01 2.95667906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00538475 meters Centerline goodness : 0.934844 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.16, Z:2.96 [[ 9.66844683e-01 1.06383984e-01 -2.32150396e-01 1.34289436e+01] [-1.01014297e-01 9.94271533e-01 3.49318017e-02 -1.55875343e-01] [ 2.34536714e-01 -1.03231178e-02 9.72052449e-01 2.95831875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03538475 meters Centerline goodness : 0.934337 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.96 [[ 0.96612671 0.10332209 -0.23648198 13.41848477] [-0.09546682 0.99443914 0.0444621 -0.15836188] [ 0.23976085 -0.02037984 0.97061805 2.96305071] [ 0. 0. 0. 1. ]] SLAMing on 184.06538475 meters Centerline goodness : 0.935425 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.97 [[ 0.96824176 0.10746389 -0.22574192 13.41842501] [-0.0990049 0.99390438 0.04849856 -0.16251675] [ 0.22957773 -0.02460878 0.97297917 2.96559604] [ 0. 0. 0. 1. ]] SLAMing on 184.09538475 meters Centerline goodness : 0.934636 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.96 [[ 0.968648 0.10251737 -0.22629901 13.41956195] [-0.09499752 0.99450891 0.04390332 -0.16171926] [ 0.22955723 -0.02102901 0.97306796 2.96428888] [ 0. 0. 0. 1. ]] SLAMing on 184.12538475 meters Centerline goodness : 0.934751 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.97 [[ 0.96945459 0.10576487 -0.22129523 13.41607623] [-0.09617336 0.9939145 0.05370894 -0.15887688] [ 0.22562906 -0.03078567 0.97372674 2.97487614] [ 0. 0. 0. 1. ]] SLAMing on 184.15538475 meters Centerline goodness : 0.933028 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.97 [[ 0.9707559 0.11179612 -0.21244908 13.42101441] [-0.10269757 0.99327686 0.05342563 -0.16116193] [ 0.21699353 -0.03004524 0.97571056 2.97064924] [ 0. 0. 0. 1. ]] SLAMing on 184.18538475 meters Centerline goodness : 0.930166 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.98 [[ 0.97062719 0.11688041 -0.21028988 13.41676549] [-0.10578575 0.99237245 0.06329535 -0.15672558] [ 0.21608387 -0.03919052 0.97558796 2.97933077] [ 0. 0. 0. 1. ]] SLAMing on 184.21538475 meters Centerline goodness : 0.929305 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.16, Z:2.98 [[ 0.97124262 0.12297641 -0.20387391 13.42403418] [-0.11278983 0.99175087 0.06089878 -0.15901902] [ 0.20968124 -0.03615259 0.97710121 2.97504765] [ 0. 0. 0. 1. ]] SLAMing on 184.24538475 meters Centerline goodness : 0.930468 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.16, Z:2.98 [[ 0.97166434 0.13289978 -0.19546369 13.42671877] [-0.12296939 0.99046272 0.06214605 -0.16005919] [ 0.2018587 -0.03634905 0.97873991 2.97798212] [ 0. 0. 0. 1. ]] SLAMing on 184.27538475 meters Centerline goodness : 0.931980 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.16, Z:2.98 [[ 0.97151673 0.13369248 -0.19565674 13.42633937] [-0.12386844 0.99038044 0.06167005 -0.15778556] [ 0.20201943 -0.03567779 0.97873145 2.97758507] [ 0. 0. 0. 1. ]] SLAMing on 184.30538475 meters Centerline goodness : 0.928943 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.15, Z:2.97 [[ 0.97153015 0.13731206 -0.19306624 13.40513751] [-0.12741457 0.98985692 0.06283952 -0.14799114] [ 0.19973658 -0.03645104 0.97917139 2.96891361] [ 0. 0. 0. 1. ]] SLAMing on 184.33538475 meters Centerline goodness : 0.927237 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.15, Z:2.97 [[ 0.97132939 0.13845283 -0.19326155 13.40493698] [-0.12871163 0.98973304 0.06214351 -0.14557123] [ 0.19988129 -0.03548681 0.97917729 2.96750765] [ 0. 0. 0. 1. ]] SLAMing on 184.36538475 meters Centerline goodness : 0.925682 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.97 [[ 0.97039847 0.14572289 -0.19259193 13.40230684] [-0.13523824 0.98857356 0.06658022 -0.14412636] [ 0.20009355 -0.03856355 0.97901758 2.9679535 ] [ 0. 0. 0. 1. ]] SLAMing on 184.39538475 meters Centerline goodness : 0.925742 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.97 [[ 0.97013408 0.14730248 -0.19272217 13.40155121] [-0.13688126 0.98836023 0.06638958 -0.14228378] [ 0.20025828 -0.03802674 0.9790049 2.96714667] [ 0. 0. 0. 1. ]] SLAMing on 184.42538475 meters Centerline goodness : 0.922156 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.97 [[ 0.96915014 0.15449871 -0.19203686 13.39914071] [-0.14329139 0.98712874 0.07102413 -0.14209148] [ 0.20053824 -0.04131582 0.97881429 2.96755426] [ 0. 0. 0. 1. ]] SLAMing on 184.45538475 meters Centerline goodness : 0.922894 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.97 [[ 0.96888748 0.15634289 -0.19186962 13.39754744] [-0.14516537 0.98685083 0.0710806 -0.14101264] [ 0.20045964 -0.04101628 0.97884299 2.96692069] [ 0. 0. 0. 1. ]] SLAMing on 184.48538475 meters Centerline goodness : 0.921605 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.97 [[ 0.96766886 0.16545192 -0.19037498 13.39245577] [-0.15344342 0.98520867 0.07628236 -0.13981277] [ 0.20018014 -0.04460428 0.97874326 2.96707712] [ 0. 0. 0. 1. ]] SLAMing on 184.51538475 meters Centerline goodness : 0.922004 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.97 [[ 0.96740247 0.16737025 -0.19005172 13.39068981] [-0.15540747 0.98489927 0.07630171 -0.13853388] [ 0.19995244 -0.044279 0.97880457 2.96622851] [ 0. 0. 0. 1. ]] SLAMing on 184.54538475 meters Centerline goodness : 0.919368 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.97 [[ 0.96617293 0.17568565 -0.18879729 13.38619325] [-0.16278118 0.98325435 0.08193396 -0.13974628] [ 0.20003037 -0.04842973 0.97859206 2.96761383] [ 0. 0. 0. 1. ]] SLAMing on 184.57538475 meters Centerline goodness : 0.920348 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.97 [[ 0.96589401 0.17758575 -0.18844645 13.38418809] [-0.16469763 0.98292093 0.08210449 -0.13888631] [ 0.19980854 -0.04826755 0.97864539 2.96706355] [ 0. 0. 0. 1. ]] SLAMing on 184.60538475 meters Centerline goodness : 0.921318 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.97 [[ 0.96541384 0.18087775 -0.18777477 13.37953054] [-0.16781833 0.98228432 0.08339373 -0.13915541] [ 0.19953229 -0.04899741 0.97866548 2.96828193] [ 0. 0. 0. 1. ]] SLAMing on 184.63538475000001 meters Centerline goodness : 0.920852 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.97 [[ 0.96593932 0.17765379 -0.18814982 13.37850212] [-0.1654872 0.9830717 0.07863853 -0.13763817] [ 0.19893519 -0.04482366 0.97898704 2.96590504] [ 0. 0. 0. 1. ]] SLAMing on 184.66538475000002 meters Centerline goodness : 0.919975 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.96 [[ 0.96647613 0.17336249 -0.189392 13.38087222] [-0.16260397 0.98412925 0.07106025 -0.13486758] [ 0.19870539 -0.03788214 0.97932687 2.95857596] [ 0. 0. 0. 1. ]] SLAMing on 184.69538475000002 meters Centerline goodness : 0.916400 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96710811 0.1691865 -0.18994166 13.38161204] [-0.15961018 0.9850547 0.06474439 -0.13198739] [ 0.1980568 -0.03229821 0.97965827 2.95381484] [ 0. 0. 0. 1. ]] SLAMing on 184.72538475 meters Centerline goodness : 0.915007 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.9676358 0.16537043 -0.19061368 13.38222937] [-0.15676445 0.98584309 0.05948369 -0.13082967] [ 0.19775202 -0.0276771 0.97986127 2.95042153] [ 0. 0. 0. 1. ]] SLAMing on 184.75538475 meters Centerline goodness : 0.914559 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96817807 0.16152156 -0.19115963 13.38215693] [-0.15377243 0.98658547 0.05480092 -0.12945221] [ 0.19744685 -0.02366197 0.98002799 2.94844368] [ 0. 0. 0. 1. ]] SLAMing on 184.78538475 meters Centerline goodness : 0.913235 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96851417 0.15884136 -0.19170218 13.38151602] [-0.15190499 0.98710675 0.05044933 -0.12834334] [ 0.19724395 -0.01974037 0.98015567 2.94617374] [ 0. 0. 0. 1. ]] SLAMing on 184.81538475 meters Centerline goodness : 0.912653 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96874786 0.15738683 -0.19172109 13.37782449] [-0.15106448 0.98739388 0.04725303 -0.1280804 ] [ 0.19674124 -0.01681402 0.98031126 2.9458401 ] [ 0. 0. 0. 1. ]] SLAMing on 184.84538475 meters Centerline goodness : 0.913476 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96865733 0.15796778 -0.19170068 13.37730046] [-0.1515907 0.98729737 0.04758318 -0.12838985] [ 0.19678218 -0.01703175 0.98029929 2.9460679 ] [ 0. 0. 0. 1. ]] SLAMing on 184.87538475 meters Centerline goodness : 0.915753 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.95 [[ 0.96858375 0.15871541 -0.19145481 13.37637245] [-0.15229269 0.98717381 0.0479041 -0.1283906 ] [ 0.19660229 -0.01724196 0.98033171 2.94609588] [ 0. 0. 0. 1. ]] SLAMing on 184.90538475 meters Centerline goodness : 0.915530 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.13, Z:2.94 [[ 0.96890041 0.15660824 -0.19158773 13.37400156] [-0.15091987 0.98756521 0.04402432 -0.12745951] [ 0.19609995 -0.01374078 0.98048763 2.9446885 ] [ 0. 0. 0. 1. ]] SLAMing on 184.93538475 meters Centerline goodness : 0.915365 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.13, Z:2.94 [[ 9.69376697e-01 1.52999978e-01 -1.92093272e-01 1.33730873e+01] [-1.47969813e-01 9.88168352e-01 4.03514797e-02 -1.29187431e-01] [ 1.95994268e-01 -1.06917785e-02 9.80546752e-01 2.94421432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96538475 meters Centerline goodness : 0.914233 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.13, Z:2.94 [[ 9.69296111e-01 1.53377810e-01 -1.92198585e-01 1.33729218e+01] [-1.48298309e-01 9.88107737e-01 4.06289471e-02 -1.29581132e-01] [ 1.96144488e-01 -1.08787552e-02 9.80514657e-01 2.94453002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99538475 meters Centerline goodness : 0.916039 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.13, Z:2.94 [[ 9.69201491e-01 1.53642401e-01 -1.92464238e-01 1.33737361e+01] [-1.48492705e-01 9.88063628e-01 4.09900408e-02 -1.31272070e-01] [ 1.96464721e-01 -1.11480733e-02 9.80447517e-01 2.94437749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02538475 meters Centerline goodness : 0.914688 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.13, Z:2.94 [[ 9.69831161e-01 1.48999779e-01 -1.92941920e-01 1.33745119e+01] [-1.44674148e-01 9.88809635e-01 3.63991388e-02 -1.31251124e-01] [ 1.96206293e-01 -7.38731116e-03 9.80534812e-01 2.94244509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05538475 meters Centerline goodness : 0.910707 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.94 [[ 9.70405293e-01 1.43669037e-01 -1.94094759e-01 1.33772324e+01] [-1.40111681e-01 9.89618245e-01 3.20069655e-02 -1.33285130e-01] [ 1.96678125e-01 -3.86478580e-03 9.80460493e-01 2.94089938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08538475 meters Centerline goodness : 0.911446 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.94 [[ 9.70950203e-01 1.38999631e-01 -1.94768595e-01 1.33782140e+01] [-1.36226571e-01 9.90292390e-01 2.76279632e-02 -1.33391872e-01] [ 1.96718134e-01 -2.92718663e-04 9.80460040e-01 2.93955477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11538475 meters Centerline goodness : 0.905249 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.94 [[ 9.71469490e-01 1.34522338e-01 -1.95322223e-01 1.33786425e+01] [-1.32514893e-01 9.90905460e-01 2.33703275e-02 -1.33116234e-01] [ 1.96689689e-01 3.17954333e-03 9.80460635e-01 2.93854559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14538475 meters Centerline goodness : 0.907517 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.94 [[ 9.71976205e-01 1.30121764e-01 -1.95781981e-01 1.33789852e+01] [-1.28861915e-01 9.91476370e-01 1.92149404e-02 -1.32670024e-01] [ 1.96613490e-01 6.55237626e-03 9.80459179e-01 2.93770644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17538475 meters Centerline goodness : 0.905121 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.13, Z:2.94 [[ 9.71974289e-01 1.29390739e-01 -1.96275365e-01 1.33812284e+01] [-1.27964693e-01 9.91577351e-01 1.99848556e-02 -1.33994561e-01] [ 1.97208061e-01 5.69155094e-03 9.80345137e-01 2.93864138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20538475 meters Centerline goodness : 0.911488 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.94 [[ 9.71947531e-01 1.28847031e-01 -1.96764934e-01 1.33827464e+01] [-1.27332542e-01 9.91650619e-01 2.03831445e-02 -1.35427264e-01] [ 1.97748377e-01 5.24323238e-03 9.80238791e-01 2.93926153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23538475 meters Centerline goodness : 0.907527 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.94 [[ 9.72429403e-01 1.23914955e-01 -1.97550349e-01 1.33841736e+01] [-1.22895621e-01 9.92265995e-01 1.74602651e-02 -1.38393141e-01] [ 1.98186082e-01 7.29919761e-03 9.80137235e-01 2.94000147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26538475 meters Centerline goodness : 0.910714 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.94 [[ 9.72874371e-01 1.19976042e-01 -1.97790819e-01 1.33832036e+01] [-1.19671066e-01 9.92721278e-01 1.35388296e-02 -1.37708390e-01] [ 1.97975490e-01 1.04982579e-02 9.80150750e-01 2.93970497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29538475 meters Centerline goodness : 0.909980 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.14, Z:2.94 [[ 9.73358002e-01 1.15250019e-01 -1.98221172e-01 1.33838054e+01] [-1.15722948e-01 9.93238583e-01 9.23669287e-03 -1.37211204e-01] [ 1.97945445e-01 1.39481295e-02 9.80113795e-01 2.93871902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32538475 meters Centerline goodness : 0.916471 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73278841e-01 1.14110333e-01 -1.99266480e-01 1.33868704e+01] [-1.14268900e-01 9.93391766e-01 1.07432155e-02 -1.39831464e-01] [ 1.99175592e-01 1.23138173e-02 9.79886449e-01 2.94151321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35538475 meters Centerline goodness : 0.911770 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73243293e-01 1.12996041e-01 -2.00073455e-01 1.33905071e+01] [-1.13274409e-01 9.93512472e-01 1.00933790e-02 -1.38989244e-01] [ 1.99915984e-01 1.28398890e-02 9.79728910e-01 2.94048934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38538475000001 meters Centerline goodness : 0.907264 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73210498e-01 1.12568750e-01 -2.00473449e-01 1.33923846e+01] [-1.12928227e-01 9.93556002e-01 9.67919286e-03 -1.38064660e-01] [ 2.00271174e-01 1.32192192e-02 9.79651320e-01 2.93969734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41538475000002 meters Centerline goodness : 0.906468 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73147039e-01 1.12518095e-01 -2.00809659e-01 1.33936699e+01] [-1.12911836e-01 9.93559313e-01 9.52933796e-03 -1.37354487e-01] [ 2.00588530e-01 1.34003402e-02 9.79583928e-01 2.93925560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44538475000002 meters Centerline goodness : 0.906154 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73099403e-01 1.12540925e-01 -2.01027592e-01 1.33947915e+01] [-1.13016444e-01 9.93551008e-01 9.14757247e-03 -1.36194978e-01] [ 2.00760643e-01 1.38179263e-02 9.79542868e-01 2.93842068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47538475 meters Centerline goodness : 0.906154 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.14, Z:2.94 [[ 9.73099403e-01 1.12540925e-01 -2.01027592e-01 1.33947915e+01] [-1.13016444e-01 9.93551008e-01 9.14757247e-03 -1.36194978e-01] [ 2.00760643e-01 1.38179263e-02 9.79542868e-01 2.93842068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50538475 meters Centerline goodness : 0.906805 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.94 [[ 9.73067825e-01 1.12595333e-01 -2.01149943e-01 1.33953759e+01] [-1.13043663e-01 9.93546549e-01 9.29432781e-03 -1.36094399e-01] [ 2.00898330e-01 1.36947151e-02 9.79516368e-01 2.93839061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53538475 meters Centerline goodness : 0.913879 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.13, Z:2.94 [[ 9.72959508e-01 1.13203983e-01 -2.01332198e-01 1.33958319e+01] [-1.13727377e-01 9.93471195e-01 9.00384117e-03 -1.34793762e-01] [ 2.01037010e-01 1.41366099e-02 9.79481637e-01 2.93770870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56538475 meters Centerline goodness : 0.910568 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.94 [[ 9.72912754e-01 1.13247519e-01 -2.01533550e-01 1.33966408e+01] [-1.13767830e-01 9.93466255e-01 9.03778357e-03 -1.35097070e-01] [ 2.01240288e-01 1.41350597e-02 9.79439915e-01 2.93735717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59538475 meters Centerline goodness : 0.912418 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.94 [[ 9.72813211e-01 1.12128233e-01 -2.02636906e-01 1.34002531e+01] [-1.12579644e-01 9.93598858e-01 9.33452648e-03 -1.37890546e-01] [ 2.02386462e-01 1.37320399e-02 9.79209452e-01 2.93774686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62538475 meters Centerline goodness : 0.919117 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.94 [[ 9.73252823e-01 1.07374580e-01 -2.03100077e-01 1.34009121e+01] [-1.08577586e-01 9.94074152e-01 5.24299517e-03 -1.38202452e-01] [ 2.02459502e-01 1.69493562e-02 9.79143947e-01 2.93705164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65538475 meters Centerline goodness : 0.917482 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.94 [[ 9.73161006e-01 1.06083351e-01 -2.04215520e-01 1.34043239e+01] [-1.07167505e-01 9.94224206e-01 5.77526356e-03 -1.41226899e-01] [ 2.03648673e-01 1.62650065e-02 9.78908917e-01 2.93821419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68538475 meters Centerline goodness : 0.919394 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.94 [[ 9.73110759e-01 1.05594507e-01 -2.04707719e-01 1.34060503e+01] [-1.06654545e-01 9.94278750e-01 5.88003824e-03 -1.41755522e-01] [ 2.04157435e-01 1.61110803e-02 9.78805484e-01 2.93839966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71538475 meters Centerline goodness : 0.917413 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.94 [[ 9.73132487e-01 1.04980226e-01 -2.04920265e-01 1.34075573e+01] [-1.06010672e-01 9.94347042e-01 5.97475841e-03 -1.41254246e-01] [ 2.04389091e-01 1.59095034e-02 9.78760434e-01 2.93865381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74538475 meters Centerline goodness : 0.920971 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.14, Z:2.94 [[ 9.73081486e-01 1.04600609e-01 -2.05356114e-01 1.34089190e+01] [-1.05566990e-01 9.94392390e-01 6.27575837e-03 -1.41827157e-01] [ 2.04861005e-01 1.55720026e-02 9.78667196e-01 2.93914106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77538475 meters Centerline goodness : 0.922161 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.14, Z:2.95 [[ 9.73666787e-01 1.06886794e-01 -2.01365837e-01 1.33998550e+01] [-1.06568403e-01 9.94227384e-01 1.24532670e-02 -1.41492744e-01] [ 2.01534520e-01 9.33390331e-03 9.79436938e-01 2.94676766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80538475 meters Centerline goodness : 0.920671 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.95 [[ 9.76553036e-01 1.08853788e-01 -1.85728352e-01 1.33933049e+01] [-1.06536484e-01 9.94055491e-01 2.24423350e-02 -1.47060157e-01] [ 1.87067221e-01 -2.12928472e-03 9.82344808e-01 2.95109434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83538475 meters Centerline goodness : 0.924088 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.15, Z:2.96 [[ 9.78736997e-01 1.09366557e-01 -1.73530534e-01 1.33896669e+01] [-1.06267613e-01 9.93968794e-01 2.70782315e-02 -1.51701582e-01] [ 1.75445388e-01 -8.06179145e-03 9.84456156e-01 2.95741640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86538475 meters Centerline goodness : 0.925821 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.16, Z:2.96 [[ 9.80503258e-01 1.10291250e-01 -1.62632107e-01 1.33901470e+01] [-1.07182622e-01 9.93850794e-01 2.77936271e-02 -1.57104423e-01] [ 1.64697442e-01 -9.82040627e-03 9.86295246e-01 2.95745773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89538475 meters Centerline goodness : 0.922388 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.16, Z:2.96 [[ 0.98197702 0.10969971 -0.15390618 13.37875845] [-0.10488379 0.99371577 0.03909429 -0.15692904] [ 0.15722763 -0.02224743 0.98731177 2.96238576] [ 0. 0. 0. 1. ]] SLAMing on 185.92538475 meters Centerline goodness : 0.925946 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.16, Z:2.96 [[ 0.98331651 0.11595132 -0.14015681 13.37629069] [-0.11070593 0.99284809 0.04468625 -0.16098573] [ 0.14433585 -0.02842454 0.98912042 2.96146896] [ 0. 0. 0. 1. ]] SLAMing on 185.95538475 meters Centerline goodness : 0.921867 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.16, Z:2.96 [[ 0.98462933 0.11893348 -0.12790586 13.37525361] [-0.11341046 0.99230661 0.04965543 -0.16412206] [ 0.13282752 -0.03438633 0.99054249 2.96335587] [ 0. 0. 0. 1. ]] SLAMing on 185.98538475 meters Centerline goodness : 0.925262 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.16, Z:2.97 [[ 0.98558419 0.11945295 -0.11981154 13.36378559] [-0.11294368 0.99180344 0.05974667 -0.16448229] [ 0.12596641 -0.04535342 0.99099724 2.97099727] [ 0. 0. 0. 1. ]] SLAMing on 186.01538475 meters Centerline goodness : 0.920184 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.17, Z:2.96 [[ 0.98622176 0.12462016 -0.10879544 13.36299812] [-0.11904401 0.99128859 0.05635111 -0.16815713] [ 0.11487017 -0.04262325 0.99246567 2.96372015] [ 0. 0. 0. 1. ]] SLAMing on 186.04538475 meters Centerline goodness : 0.924096 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.17, Z:2.96 [[ 0.98669935 0.13102776 -0.0962087 13.36108903] [-0.12570924 0.99028546 0.05942971 -0.17119268] [ 0.10306101 -0.04654493 0.99358543 2.96477266] [ 0. 0. 0. 1. ]] SLAMing on 186.07538475 meters Centerline goodness : 0.922505 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.17, Z:2.96 [[ 0.98632483 0.13397689 -0.09598712 13.3624385 ] [-0.12843173 0.9897899 0.06181627 -0.17029906] [ 0.10328903 -0.04864313 0.99346123 2.9633661 ] [ 0. 0. 0. 1. ]] SLAMing on 186.10538475 meters Centerline goodness : 0.917705 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.17, Z:2.96 [[ 0.98581961 0.1360128 -0.09828635 13.36758048] [-0.13032423 0.98951987 0.06217733 -0.16997046] [ 0.10571321 -0.04848654 0.99321386 2.96185038] [ 0. 0. 0. 1. ]] SLAMing on 186.13538475000001 meters Centerline goodness : 0.919695 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.17, Z:2.95 [[ 0.98479977 0.14845675 -0.09016656 13.36892538] [-0.14347312 0.98786526 0.05947847 -0.17196208] [ 0.0979024 -0.0456379 0.99414903 2.95227586] [ 0. 0. 0. 1. ]] SLAMing on 186.16538475000002 meters Centerline goodness : 0.927600 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.17, Z:2.95 [[ 0.98367757 0.15196221 -0.09636355 13.37825142] [-0.14728125 0.98761951 0.05399948 -0.17044782] [ 0.1033764 -0.03892554 0.99388034 2.94817709] [ 0. 0. 0. 1. ]] SLAMing on 186.19538475000002 meters Centerline goodness : 0.925254 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.17, Z:2.95 [[ 0.98320115 0.15304146 -0.09946758 13.38314983] [-0.14846043 0.98755155 0.05197536 -0.17025103] [ 0.10618375 -0.03633524 0.99368242 2.94788743] [ 0. 0. 0. 1. ]] SLAMing on 186.22538475 meters Centerline goodness : 0.930397 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.17, Z:2.94 [[ 0.98222157 0.15462519 -0.10645114 13.39307108] [-0.15092846 0.98765216 0.04199774 -0.16984893] [ 0.11163061 -0.02518458 0.99343059 2.94172153] [ 0. 0. 0. 1. ]] SLAMing on 186.25538475 meters Centerline goodness : 0.930100 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.17, Z:2.94 [[ 0.9821359 0.1552356 -0.1063531 13.39234628] [-0.151573 0.98756412 0.04174606 -0.16852862] [ 0.11151098 -0.02488004 0.9934517 2.94151288] [ 0. 0. 0. 1. ]] SLAMing on 186.28538475 meters Centerline goodness : 0.928518 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.17, Z:2.94 [[ 0.98195594 0.1567631 -0.10577267 13.39066995] [-0.15320579 0.98734303 0.04100888 -0.16602911] [ 0.11086259 -0.02406393 0.99354437 2.93997813] [ 0. 0. 0. 1. ]] SLAMing on 186.31538475 meters Centerline goodness : 0.932714 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.16, Z:2.94 [[ 0.98247761 0.15328559 -0.10602486 13.39027678] [-0.15032507 0.98800191 0.03542033 -0.16382058] [ 0.11018219 -0.01886149 0.99373242 2.93625555] [ 0. 0. 0. 1. ]] SLAMing on 186.34538475 meters Centerline goodness : 0.930351 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.17, Z:2.94 [[ 0.98195246 0.1569905 -0.10546728 13.39168723] [-0.15331848 0.98727889 0.04211688 -0.16922007] [ 0.11073757 -0.02518669 0.99353048 2.93979032] [ 0. 0. 0. 1. ]] SLAMing on 186.37538475 meters Centerline goodness : 0.931836 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.17, Z:2.94 [[ 0.98262896 0.15204783 -0.10640389 13.39377228] [-0.14867456 0.98811706 0.03899411 -0.1742533 ] [ 0.11106847 -0.02249719 0.99355809 2.93948506] [ 0. 0. 0. 1. ]] SLAMing on 186.40538475 meters Centerline goodness : 0.937209 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.18, Z:2.94 [[ 0.98309034 0.14802284 -0.10780825 13.3946543 ] [-0.1449644 0.98879196 0.03571806 -0.17656436] [ 0.11188702 -0.01948572 0.99352987 2.94068802] [ 0. 0. 0. 1. ]] SLAMing on 186.43538475 meters Centerline goodness : 0.937404 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.94 [[ 0.98309246 0.14745173 -0.10856885 13.39689547] [-0.14440331 0.98888306 0.03546792 -0.17666635] [ 0.11259171 -0.01919055 0.993456 2.94035074] [ 0. 0. 0. 1. ]] SLAMing on 186.46538475 meters Centerline goodness : 0.937210 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.18, Z:2.94 [[ 0.98314875 0.14696004 -0.10872575 13.40191957] [-0.14380338 0.98893776 0.03636878 -0.17528551] [ 0.11286776 -0.02012079 0.99340627 2.93881147] [ 0. 0. 0. 1. ]] SLAMing on 186.49538475 meters Centerline goodness : 0.936159 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.17, Z:2.94 [[ 0.98317804 0.14627372 -0.10938435 13.40485842] [-0.14315919 0.98905027 0.03584695 -0.17363735] [ 0.11343009 -0.01958456 0.99335294 2.93769229] [ 0. 0. 0. 1. ]] SLAMing on 186.52538475 meters Centerline goodness : 0.931088 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.17, Z:2.94 [[ 0.98278913 0.14818862 -0.11029805 13.41070773] [-0.14460073 0.98868565 0.0398914 -0.17374794] [ 0.11496155 -0.02325565 0.99309769 2.93867563] [ 0. 0. 0. 1. ]] SLAMing on 186.55538475 meters Centerline goodness : 0.930933 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.17, Z:2.94 [[ 0.98329812 0.14442014 -0.11075933 13.41056458] [-0.14134321 0.98933508 0.03518794 -0.17101416] [ 0.11465994 -0.01894516 0.99322413 2.93729978] [ 0. 0. 0. 1. ]] SLAMing on 186.58538475 meters Centerline goodness : 0.932979 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.17, Z:2.94 [[ 0.98326422 0.14391362 -0.11171547 13.41235276] [-0.14067281 0.98938639 0.0364107 -0.17318039] [ 0.11576976 -0.02008601 0.99307297 2.94005321] [ 0. 0. 0. 1. ]] SLAMing on 186.61538475 meters Centerline goodness : 0.935555 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.18, Z:2.95 [[ 0.9827956 0.14693819 -0.1119016 13.41569361] [-0.14271028 0.98874361 0.0449427 -0.17736379] [ 0.11724579 -0.02819998 0.99270247 2.94811394] [ 0. 0. 0. 1. ]] SLAMing on 186.64538475 meters Centerline goodness : 0.935658 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.17, Z:2.94 [[ 0.98314141 0.14386071 -0.1128586 13.41579244] [-0.14028551 0.98934085 0.03904689 -0.17382397] [ 0.11727293 -0.02255619 0.99284353 2.94468982] [ 0. 0. 0. 1. ]] SLAMing on 186.67538475 meters Centerline goodness : 0.939084 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.17, Z:2.94 [[ 0.98366154 0.13995714 -0.11323418 13.41635872] [-0.13688296 0.98998551 0.03452171 -0.17147605] [ 0.11693175 -0.01845785 0.99296841 2.94282023] [ 0. 0. 0. 1. ]] SLAMing on 186.70538475 meters Centerline goodness : 0.938680 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.18, Z:2.96 [[ 0.98477911 0.13752288 -0.10628999 13.43577913] [-0.13226991 0.98968569 0.05501725 -0.18056932] [ 0.11275981 -0.04012087 0.99281194 2.96228416] [ 0. 0. 0. 1. ]] SLAMing on 186.73538475 meters Centerline goodness : 0.939511 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.18, Z:2.96 [[ 0.98522101 0.13386376 -0.10686465 13.4361091 ] [-0.12910491 0.99035422 0.05030351 -0.1773624 ] [ 0.11256767 -0.03576332 0.99300025 2.96069088] [ 0. 0. 0. 1. ]] SLAMing on 186.76538475 meters Centerline goodness : 0.942030 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.17, Z:2.96 [[ 0.98520697 0.13302103 -0.10803999 13.44006145] [-0.12844179 0.99053906 0.04832263 -0.17439041] [ 0.11344576 -0.03373094 0.99297144 2.95762584] [ 0. 0. 0. 1. ]] SLAMing on 186.79538475 meters Centerline goodness : 0.942312 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.17, Z:2.96 [[ 0.985225 0.1321814 -0.10890261 13.44297554] [-0.12766377 0.99067984 0.04749119 -0.17348755] [ 0.11416507 -0.03288659 0.99291732 2.95645657] [ 0. 0. 0. 1. ]] SLAMing on 186.82538475 meters Centerline goodness : 0.943626 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98568259 0.12764627 -0.11016468 13.44554872] [-0.12370396 0.99143266 0.04193577 -0.17079418] [ 0.11457381 -0.02770755 0.99302826 2.95370852] [ 0. 0. 0. 1. ]] SLAMing on 186.85538475 meters Centerline goodness : 0.944074 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98612601 0.12367934 -0.11071995 13.44610616] [-0.12038251 0.99207434 0.03600775 -0.16763337] [ 0.11429583 -0.02217944 0.99319914 2.95018554] [ 0. 0. 0. 1. ]] SLAMing on 186.88538475000001 meters Centerline goodness : 0.943738 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98611745 0.12311227 -0.11142592 13.44814622] [-0.11985532 0.99215659 0.03549653 -0.16708679] [ 0.11492202 -0.02164876 0.99313859 2.94978195] [ 0. 0. 0. 1. ]] SLAMing on 186.91538475000002 meters Centerline goodness : 0.941050 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98650531 0.1194022 -0.11202854 13.44868394] [-0.11660245 0.99268714 0.03124284 -0.16542638] [ 0.11493976 -0.01775842 0.99321372 2.94860268] [ 0. 0. 0. 1. ]] SLAMing on 186.94538475000002 meters Centerline goodness : 0.943347 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98687767 0.12469912 -0.10257972 13.45087383] [-0.12185538 0.99198029 0.0335614 -0.16922913] [ 0.10594214 -0.0206211 0.99415845 2.95166886] [ 0. 0. 0. 1. ]] SLAMing on 186.97538475 meters Centerline goodness : 0.944332 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:2.95 [[ 0.98684973 0.12450599 -0.1030819 13.45230479] [-0.1217032 0.99201542 0.03307166 -0.16868595] [ 0.10637645 -0.02009136 0.99412292 2.95087586] [ 0. 0. 0. 1. ]] SLAMing on 187.00538475 meters Centerline goodness : 0.940187 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.17, Z:2.95 [[ 0.98629537 0.12804962 -0.10404196 13.45665998] [-0.12488538 0.99150303 0.03640571 -0.16796495] [ 0.10781965 -0.02291346 0.99390638 2.94980348] [ 0. 0. 0. 1. ]] SLAMing on 187.03538475 meters Centerline goodness : 0.940584 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.17, Z:2.95 [[ 0.98622047 0.1284946 -0.10420327 13.45709716] [-0.12543836 0.9914697 0.03539842 -0.16568882] [ 0.10786289 -0.02183956 0.99392587 2.94805359] [ 0. 0. 0. 1. ]] SLAMing on 187.06538475 meters Centerline goodness : 0.939046 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.95 [[ 0.98551886 0.13373815 -0.10424339 13.45762747] [-0.13032223 0.99070634 0.03894944 -0.16396496] [ 0.10848361 -0.02480017 0.99378884 2.94752287] [ 0. 0. 0. 1. ]] SLAMing on 187.09538475 meters Centerline goodness : 0.937207 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.95 [[ 0.98476527 0.13926582 -0.10412679 13.45743363] [-0.1354327 0.98985071 0.04305288 -0.16314218] [ 0.10906578 -0.02829481 0.99363175 2.94784479] [ 0. 0. 0. 1. ]] SLAMing on 187.12538475 meters Centerline goodness : 0.939026 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.95 [[ 0.98463448 0.14009494 -0.10425139 13.45692115] [-0.13627177 0.9897392 0.04296891 -0.16195001] [ 0.10920142 -0.02810215 0.99362232 2.9478118 ] [ 0. 0. 0. 1. ]] SLAMing on 187.15538475 meters Centerline goodness : 0.940072 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.16, Z:2.95 [[ 0.98496147 0.13748242 -0.10463984 13.45485117] [-0.13407098 0.99020403 0.03899941 -0.1613039 ] [ 0.10897652 -0.02438375 0.99374521 2.94769447] [ 0. 0. 0. 1. ]] SLAMing on 187.18538475 meters Centerline goodness : 0.942087 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.95 [[ 0.98549828 0.13306345 -0.10529608 13.45577298] [-0.13013574 0.99090501 0.03423387 -0.16044168] [ 0.10889369 -0.02003464 0.99385149 2.94594609] [ 0. 0. 0. 1. ]] SLAMing on 187.21538475 meters Centerline goodness : 0.938419 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 0.98595064 0.12923265 -0.10583131 13.45589033] [-0.12677472 0.99148799 0.02966052 -0.15901443] [ 0.10876358 -0.01582707 0.99394164 2.94458162] [ 0. 0. 0. 1. ]] SLAMing on 187.24538475 meters Centerline goodness : 0.940306 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 0.98586992 0.12930569 -0.10649193 13.45829888] [-0.12693518 0.99149358 0.02877389 -0.15670469] [ 0.1093067 -0.01484974 0.99389714 2.94252062] [ 0. 0. 0. 1. ]] SLAMing on 187.27538475 meters Centerline goodness : 0.937187 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 0.9858478 0.12926295 -0.10674836 13.45928647] [-0.12694921 0.99150766 0.02822163 -0.15566963] [ 0.10948983 -0.01427061 0.99388547 2.94150696] [ 0. 0. 0. 1. ]] SLAMing on 187.30538475 meters Centerline goodness : 0.933867 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 0.98583945 0.12851381 -0.10772551 13.4620297 ] [-0.12619609 0.99160749 0.02809154 -0.15655082] [ 0.11043157 -0.01409921 0.99378372 2.9412033 ] [ 0. 0. 0. 1. ]] SLAMing on 187.33538475 meters Centerline goodness : 0.937426 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86241618e-01 1.24753705e-01 -1.08461900e-01 1.34622775e+01] [-1.22836388e-01 9.92131621e-01 2.42088427e-02 -1.56544305e-01] [ 1.10628624e-01 -1.05527001e-02 9.93805790e-01 2.94091668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36538475 meters Centerline goodness : 0.937218 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86200714e-01 1.24684632e-01 -1.08912326e-01 1.34631021e+01] [-1.22731214e-01 9.92137857e-01 2.44851396e-02 -1.57845298e-01] [ 1.11108963e-01 -1.07803201e-02 9.93749759e-01 2.94134915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39538475 meters Centerline goodness : 0.937218 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86200714e-01 1.24684632e-01 -1.08912326e-01 1.34631021e+01] [-1.22731214e-01 9.92137857e-01 2.44851396e-02 -1.57845298e-01] [ 1.11108963e-01 -1.07803201e-02 9.93749759e-01 2.94134915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42538475 meters Centerline goodness : 0.934290 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86162288e-01 1.24532667e-01 -1.09432885e-01 1.34642702e+01] [-1.22558624e-01 9.92156100e-01 2.46100819e-02 -1.58706351e-01] [ 1.11639264e-01 -1.08575909e-02 9.93689482e-01 2.94146712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45538475 meters Centerline goodness : 0.932772 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 9.86066423e-01 1.24675911e-01 -1.10131406e-01 1.34658512e+01] [-1.22736370e-01 9.92143117e-01 2.42449793e-02 -1.58243860e-01] [ 1.12288881e-01 -1.03900310e-02 9.93621283e-01 2.94072055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48538475 meters Centerline goodness : 0.931090 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 0.98541959 0.12966537 -0.11015958 13.46645565] [-0.12727531 0.99145824 0.02848791 -0.15758158] [ 0.11291251 -0.01405195 0.99350556 2.94124212] [ 0. 0. 0. 1. ]] SLAMing on 187.51538475 meters Centerline goodness : 0.927368 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 9.85297149e-01 1.30704298e-01 -1.10026878e-01 1.34657880e+01] [-1.28378254e-01 9.91330026e-01 2.79964973e-02 -1.55319105e-01] [ 1.12732210e-01 -1.34598105e-02 9.93534238e-01 2.94020752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54538475 meters Centerline goodness : 0.929068 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:2.94 [[ 9.85149208e-01 1.31815209e-01 -1.10026311e-01 1.34651281e+01] [-1.29514501e-01 9.91186816e-01 2.78332510e-02 -1.53897038e-01] [ 1.12725475e-01 -1.31699024e-02 9.93538888e-01 2.93958119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57538475 meters Centerline goodness : 0.924357 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84887841e-01 1.33618464e-01 -1.10190960e-01 1.34644698e+01] [-1.31357760e-01 9.90951873e-01 2.75594844e-02 -1.52091901e-01] [ 1.12876394e-01 -1.26685634e-02 9.93528272e-01 2.93840461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60538475 meters Centerline goodness : 0.924159 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84790754e-01 1.34207681e-01 -1.10342506e-01 1.34643750e+01] [-1.31950675e-01 9.90873586e-01 2.75418931e-02 -1.51761564e-01] [ 1.13031808e-01 -1.25632337e-02 9.93511940e-01 2.93817071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63538475000001 meters Centerline goodness : 0.921540 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84560826e-01 1.35890170e-01 -1.10335132e-01 1.34627210e+01] [-1.33557924e-01 9.90637005e-01 2.82949779e-02 -1.53119136e-01] [ 1.13147074e-01 -1.31219956e-02 9.93491597e-01 2.93875013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66538475000002 meters Centerline goodness : 0.920732 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84421365e-01 1.36915332e-01 -1.10312140e-01 1.34617562e+01] [-1.34551433e-01 9.90492893e-01 2.86311011e-02 -1.53404475e-01] [ 1.13183427e-01 -1.33424111e-02 9.93484520e-01 2.93895414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69538475000002 meters Centerline goodness : 0.921522 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84163755e-01 1.38852513e-01 -1.10189305e-01 1.34602398e+01] [-1.36466396e-01 9.90221731e-01 2.89455863e-02 -1.53353576e-01] [ 1.13131011e-01 -1.34500595e-02 9.93489039e-01 2.93844488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72538475 meters Centerline goodness : 0.915639 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 0.98389071 0.14071406 -0.11026612 13.45890495] [-0.13829687 0.98995703 0.02930972 -0.15333186] [ 0.11328301 -0.0135881 0.99346984 2.93838275] [ 0. 0. 0. 1. ]] SLAMing on 187.75538475 meters Centerline goodness : 0.917223 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.84272856e-01 1.37895174e-01 -1.10416784e-01 1.34567488e+01] [-1.35927489e-01 9.90398488e-01 2.51903198e-02 -1.52032183e-01] [ 1.12830239e-01 -9.78547190e-03 9.93566093e-01 2.93788021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78538475 meters Centerline goodness : 0.919761 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:2.94 [[ 9.85276243e-01 1.29698555e-01 -1.11395733e-01 1.34558562e+01] [-1.28519522e-01 9.91548456e-01 1.77311085e-02 -1.54098037e-01] [ 1.12753966e-01 -3.15351362e-03 9.93617934e-01 2.93812341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81538475 meters Centerline goodness : 0.921425 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.85780097e-01 1.25156504e-01 -1.12131397e-01 1.34564494e+01] [-1.24360729e-01 9.92137010e-01 1.40912231e-02 -1.55749105e-01] [ 1.13013318e-01 5.38951100e-05 9.93593472e-01 2.93829559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84538475 meters Centerline goodness : 0.919459 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86428334e-01 1.18525815e-01 -1.13625583e-01 1.34607421e+01] [-1.18114364e-01 9.92945844e-01 1.03705545e-02 -1.59000259e-01] [ 1.14053228e-01 3.19100462e-03 9.93469516e-01 2.93854062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87538475 meters Centerline goodness : 0.919704 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.16, Z:2.94 [[ 9.86473724e-01 1.17231567e-01 -1.14570288e-01 1.34641497e+01] [-1.16797364e-01 9.93100060e-01 1.05188291e-02 -1.60383156e-01] [ 1.15012898e-01 3.00495908e-03 9.93359453e-01 2.93862152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90538475 meters Centerline goodness : 0.916038 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 9.86590147e-01 1.14661477e-01 -1.16157767e-01 1.34711828e+01] [-1.14259433e-01 9.93399235e-01 1.01361502e-02 -1.60233018e-01] [ 1.16553263e-01 3.27189472e-03 9.93179053e-01 2.93767396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93538475 meters Centerline goodness : 0.912818 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 9.86601398e-01 1.13983449e-01 -1.16728126e-01 1.34732935e+01] [-1.13593987e-01 9.93476872e-01 1.00055975e-02 -1.59725675e-01] [ 1.17107166e-01 3.38807667e-03 9.93113504e-01 2.93750426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96538475 meters Centerline goodness : 0.914205 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.16, Z:2.94 [[ 9.86602094e-01 1.13598996e-01 -1.17096438e-01 1.34747627e+01] [-1.13202833e-01 9.93521068e-01 1.00502132e-02 -1.59504827e-01] [ 1.17479472e-01 3.34008703e-03 9.93069694e-01 2.93741209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99538475 meters Centerline goodness : 0.910444 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.16, Z:2.94 [[ 9.86251317e-01 1.14985374e-01 -1.18687422e-01 1.34827493e+01] [-1.13757710e-01 9.93361525e-01 1.70898870e-02 -1.61704497e-01] [ 1.19864605e-01 -3.35331420e-03 9.92784585e-01 2.94334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02538475 meters Centerline goodness : 0.912382 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.16, Z:2.94 [[ 9.86229154e-01 1.14735101e-01 -1.19113024e-01 1.34838029e+01] [-1.13466246e-01 9.93389425e-01 1.74029345e-02 -1.61999970e-01] [ 1.20322346e-01 -3.64797360e-03 9.92728173e-01 2.94394850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05538475 meters Centerline goodness : 0.907371 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.86152555e-01 1.14695185e-01 -1.19783771e-01 1.34851560e+01] [-1.13331462e-01 9.93391288e-01 1.81584417e-02 -1.62390287e-01] [ 1.21074841e-01 -4.33172378e-03 9.92633930e-01 2.94558511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08538475 meters Centerline goodness : 0.910987 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.86102338e-01 1.14715558e-01 -1.20177032e-01 1.34857212e+01] [-1.13314749e-01 9.93387847e-01 1.84486351e-02 -1.62776462e-01] [ 1.21498749e-01 -4.57441199e-03 9.92581044e-01 2.94627515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11538475 meters Centerline goodness : 0.913998 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.85967717e-01 1.15210748e-01 -1.20806230e-01 1.34865232e+01] [-1.13709836e-01 9.93327139e-01 1.92683373e-02 -1.63843638e-01] [ 1.22220027e-01 -5.26110186e-03 9.92489086e-01 2.94755661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14538475 meters Centerline goodness : 0.909793 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.85901671e-01 1.15565251e-01 -1.21006483e-01 1.34876943e+01] [-1.14120783e-01 9.93288539e-01 1.88235227e-02 -1.63059524e-01] [ 1.22369698e-01 -4.74878786e-03 9.92473227e-01 2.94580691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17538475 meters Centerline goodness : 0.910767 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.85836534e-01 1.15719050e-01 -1.21389576e-01 1.34890209e+01] [-1.14218169e-01 9.93268706e-01 1.92740357e-02 -1.63342844e-01] [ 1.22802841e-01 -5.13615342e-03 9.92417796e-01 2.94585975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20538475 meters Centerline goodness : 0.910773 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.16, Z:2.95 [[ 9.85744406e-01 1.16414901e-01 -1.21472375e-01 1.34887096e+01] [-1.14891100e-01 9.93186720e-01 1.94980452e-02 -1.63480241e-01] [ 1.22914612e-01 -5.26399415e-03 9.92403289e-01 2.94583638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23538475 meters Centerline goodness : 0.911716 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 9.85641656e-01 1.17287927e-01 -1.21466323e-01 1.34883269e+01] [-1.15657445e-01 9.93079396e-01 2.04124774e-02 -1.65823231e-01] [ 1.23019840e-01 -6.07090355e-03 9.92385642e-01 2.94612576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26538475 meters Centerline goodness : 0.914626 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 9.85517452e-01 1.18637858e-01 -1.21162745e-01 1.34859539e+01] [-1.16961645e-01 9.92916929e-01 2.08793161e-02 -1.65227328e-01] [ 1.22781618e-01 -6.40553635e-03 9.92413041e-01 2.94723676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29538475 meters Centerline goodness : 0.922726 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.95 [[ 9.85856826e-01 1.16155745e-01 -1.20806299e-01 1.34812037e+01] [-1.14809765e-01 9.93223191e-01 1.80668462e-02 -1.65808729e-01] [ 1.22086185e-01 -3.94158084e-03 9.92511676e-01 2.94999827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32538475 meters Centerline goodness : 0.923104 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.95 [[ 9.86373784e-01 1.11307252e-01 -1.21150543e-01 1.34818463e+01] [-1.10348873e-01 9.93785492e-01 1.46123673e-02 -1.67077630e-01] [ 1.22024115e-01 -1.04443007e-03 9.92526586e-01 2.95030923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35538475 meters Centerline goodness : 0.918615 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.95 [[ 9.86835666e-01 1.06386625e-01 -1.21808265e-01 1.34836455e+01] [-1.05947915e-01 9.94320473e-01 1.00914146e-02 -1.66235256e-01] [ 1.22190043e-01 2.94676386e-03 9.92502348e-01 2.94883795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38538475000001 meters Centerline goodness : 0.919102 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 9.87264937e-01 1.00682706e-01 -1.23170358e-01 1.34930128e+01] [-1.00362031e-01 9.94911880e-01 8.82116572e-03 -1.68194033e-01] [ 1.23431792e-01 3.65279975e-03 9.92346336e-01 2.94784339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41538475000002 meters Centerline goodness : 0.919948 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 9.87611970e-01 9.86284897e-02 -1.22045147e-01 1.34922987e+01] [-9.81004257e-02 9.95122772e-01 1.03429046e-02 -1.68747221e-01] [ 1.22470010e-01 1.75790447e-03 9.92470658e-01 2.94726314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44538475000002 meters Centerline goodness : 0.919848 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 9.88358551e-01 1.02850239e-01 -1.12112455e-01 1.34944234e+01] [-1.01579616e-01 9.94682106e-01 1.70026630e-02 -1.73414254e-01] [ 1.13264981e-01 -5.41638722e-03 9.93550053e-01 2.95006141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47538475 meters Centerline goodness : 0.915983 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.18, Z:2.95 [[ 9.88763218e-01 1.09377021e-01 -1.01901750e-01 1.34961392e+01] [-1.07724456e-01 9.93946156e-01 2.15981554e-02 -1.77817478e-01] [ 1.03647195e-01 -1.03781510e-02 9.94559980e-01 2.95082005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50538475 meters Centerline goodness : 0.912274 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.18, Z:2.95 [[ 0.98900982 0.11579249 -0.09193296 13.49928466] [-0.1139074 0.99316376 0.02551176 -0.18155274] [ 0.09425856 -0.01475954 0.99543834 2.94944834] [ 0. 0. 0. 1. ]] SLAMing on 188.53538475 meters Centerline goodness : 0.908426 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.18, Z:2.95 [[ 0.98890482 0.11676816 -0.09182837 13.49943646] [-0.1148186 0.99303952 0.0262525 -0.18096783] [ 0.09425465 -0.01541761 0.99542873 2.94984033] [ 0. 0. 0. 1. ]] SLAMing on 188.56538475 meters Centerline goodness : 0.906570 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.94 [[ 9.88598094e-01 1.17019498e-01 -9.47641591e-02 1.35058898e+01] [-1.15575854e-01 9.93085001e-01 2.06010304e-02 -1.79045757e-01] [ 9.65195873e-02 -9.41369071e-03 9.95286568e-01 2.94361921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59538475 meters Centerline goodness : 0.910669 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.94 [[ 9.88543971e-01 1.24084348e-01 -8.59295740e-02 1.35101956e+01] [-1.22657633e-01 9.92211578e-01 2.17092020e-02 -1.82771553e-01] [ 8.79540904e-02 -1.09205826e-02 9.96064666e-01 2.94264594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62538475 meters Centerline goodness : 0.909248 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.94 [[ 9.88452966e-01 1.23854376e-01 -8.72973494e-02 1.35126307e+01] [-1.22560777e-01 9.92258534e-01 2.00464070e-02 -1.81861297e-01] [ 8.91043751e-02 -9.11569950e-03 9.95980579e-01 2.94264216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65538475 meters Centerline goodness : 0.912952 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.94 [[ 9.88952178e-01 1.22771347e-01 -8.30709668e-02 1.34874533e+01] [-1.21509396e-01 9.92386760e-01 2.00994044e-02 -1.73891706e-01] [ 8.49061585e-02 -9.78344673e-03 9.96340920e-01 2.94126151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68538475 meters Centerline goodness : 0.917860 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.88706254e-01 1.25026161e-01 -8.26341449e-02 1.34843208e+01] [-1.23747833e-01 9.92103269e-01 2.04347311e-02 -1.71203438e-01] [ 8.45364813e-02 -9.97815012e-03 9.96370423e-01 2.94238262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71538475 meters Centerline goodness : 0.917726 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.88613530e-01 1.25856779e-01 -8.24824767e-02 1.34836383e+01] [-1.24604587e-01 9.92001289e-01 2.01777016e-02 -1.69391783e-01] [ 8.43622237e-02 -9.67025389e-03 9.96388228e-01 2.94186893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74538475 meters Centerline goodness : 0.920665 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.87944811e-01 1.31155352e-01 -8.22394270e-02 1.34835590e+01] [-1.29611940e-01 9.91277769e-01 2.38564556e-02 -1.67925155e-01] [ 8.46510176e-02 -1.29096498e-02 9.96327028e-01 2.94140631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77538475 meters Centerline goodness : 0.918551 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.87853144e-01 1.31841504e-01 -8.22434408e-02 1.34833139e+01] [-1.30327242e-01 9.91191545e-01 2.35399726e-02 -1.66790478e-01] [ 8.46225486e-02 -1.25354751e-02 9.96334224e-01 2.94065893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80538475 meters Centerline goodness : 0.920993 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.88341140e-01 1.27817104e-01 -8.27319675e-02 1.34826244e+01] [-1.26576163e-01 9.91753303e-01 2.00962970e-02 -1.68745444e-01] [ 8.46183525e-02 -9.39010206e-03 9.96369189e-01 2.94157238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83538475 meters Centerline goodness : 0.926838 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.17, Z:2.94 [[ 9.88827655e-01 1.23549707e-01 -8.33986672e-02 1.34834181e+01] [-1.22640290e-01 9.92322841e-01 1.59605218e-02 -1.68841485e-01] [ 8.47303202e-02 -5.55416863e-03 9.96388440e-01 2.94083093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86538475 meters Centerline goodness : 0.926335 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.18, Z:2.95 [[ 0.98974552 0.1179154 -0.08062106 13.50153046] [-0.11589896 0.99282977 0.02926574 -0.1785185 ] [ 0.08349387 -0.01962174 0.99631509 2.95418164] [ 0. 0. 0. 1. ]] SLAMing on 188.89538475 meters Centerline goodness : 0.926821 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.96 [[ 0.98987742 0.11591705 -0.0818897 13.50671838] [-0.11360511 0.99299869 0.0323648 -0.18226702] [ 0.08506799 -0.02273409 0.99611576 2.95929687] [ 0. 0. 0. 1. ]] SLAMing on 188.92538475 meters Centerline goodness : 0.926837 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.96 [[ 0.9903707 0.11073269 -0.08309124 13.51005315] [-0.10881951 0.99368864 0.02722503 -0.180522 ] [ 0.08558152 -0.01792093 0.99616999 2.95707135] [ 0. 0. 0. 1. ]] SLAMing on 188.95538475 meters Centerline goodness : 0.922270 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.96 [[ 0.99039527 0.10997545 -0.08380095 13.51314709] [-0.108153 0.99379423 0.02599908 -0.17802211] [ 0.08614016 -0.01668604 0.99614329 2.95502191] [ 0. 0. 0. 1. ]] SLAMing on 188.98538475 meters Centerline goodness : 0.919910 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.18, Z:2.95 [[ 0.99038344 0.10987866 -0.08406739 13.51412389] [-0.10808792 0.99381224 0.02557795 -0.17702964] [ 0.08635768 -0.01624531 0.99613174 2.95438774] [ 0. 0. 0. 1. ]] SLAMing on 189.01538475 meters Centerline goodness : 0.923383 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.9903816 0.10938132 -0.08473494 13.51627732] [-0.10758073 0.9938681 0.02554592 -0.17692365] [ 0.0870096 -0.01618437 0.996076 2.95441369] [ 0. 0. 0. 1. ]] SLAMing on 189.04538475 meters Centerline goodness : 0.927318 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 0.99043104 0.10817035 -0.0857061 13.51854924] [-0.10615589 0.99396258 0.02773649 -0.18040531] [ 0.08818893 -0.01837287 0.99593431 2.95914955] [ 0. 0. 0. 1. ]] SLAMing on 189.07538475 meters Centerline goodness : 0.928325 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 0.99090642 0.10279714 -0.08681712 13.52086953] [-0.10114137 0.99459984 0.02327174 -0.18032991] [ 0.08874056 -0.01427932 0.99595242 2.9589164 ] [ 0. 0. 0. 1. ]] SLAMing on 189.10538475 meters Centerline goodness : 0.929666 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.91287389e-01 9.84229769e-02 -8.75341667e-02 1.35224426e+01] [-9.71490916e-02 9.95094028e-01 1.87063783e-02 -1.78088724e-01] [ 8.89458640e-02 -1.00395321e-02 9.95985864e-01 2.95758030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13538475000001 meters Centerline goodness : 0.926576 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.91681736e-01 9.35240450e-02 -8.84340862e-02 1.35248806e+01] [-9.26224131e-02 9.95599277e-01 1.42537357e-02 -1.77833058e-01] [ 8.93779792e-02 -5.94419086e-03 9.95980042e-01 2.95618928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16538475000002 meters Centerline goodness : 0.927295 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.92462779e-01 8.66908643e-02 -8.66159687e-02 1.35227281e+01] [-8.58790897e-02 9.96219940e-01 1.30618832e-02 -1.78590444e-01] [ 8.74209011e-02 -5.52493232e-03 9.96156143e-01 2.95532116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19538475000002 meters Centerline goodness : 0.925282 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.93181192e-01 8.97048247e-02 -7.44591461e-02 1.35220663e+01] [-8.87721046e-02 9.95927437e-01 1.57497307e-02 -1.82198814e-01] [ 7.55687333e-02 -9.03244119e-03 9.97099685e-01 2.95508137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22538475 meters Centerline goodness : 0.924227 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.93960916e-01 9.04712945e-02 -6.21018641e-02 1.35201719e+01] [-8.95684286e-02 9.95832535e-01 1.71772803e-02 -1.84558577e-01] [ 6.33971075e-02 -1.15111789e-02 9.97921991e-01 2.95650623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25538475 meters Centerline goodness : 0.930362 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.94095673e-01 8.92887136e-02 -6.16548326e-02 1.35204576e+01] [-8.84638718e-02 9.95951092e-01 1.59864132e-02 -1.83869124e-01] [ 6.28326042e-02 -1.04377989e-02 9.97969497e-01 2.95522305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28538475 meters Centerline goodness : 0.930362 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.96 [[ 9.94095673e-01 8.92887136e-02 -6.16548326e-02 1.35204576e+01] [-8.84638718e-02 9.95951092e-01 1.59864132e-02 -1.83869124e-01] [ 6.28326042e-02 -1.04377989e-02 9.97969497e-01 2.95522305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31538475 meters Centerline goodness : 0.924372 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.99394166 0.09156574 -0.06079215 13.52167899] [-0.09050397 0.99569523 0.02000108 -0.18229858] [ 0.06236187 -0.01437798 0.99795003 2.95326973] [ 0. 0. 0. 1. ]] SLAMing on 189.34538475 meters Centerline goodness : 0.922484 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.99341149 0.097639 -0.06000196 13.52169689] [-0.09633742 0.99505397 0.02422201 -0.18000243] [ 0.0620702 -0.01828199 0.99790433 2.952706 ] [ 0. 0. 0. 1. ]] SLAMing on 189.37538475 meters Centerline goodness : 0.924894 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.18, Z:2.95 [[ 0.99311894 0.09942987 -0.0618746 13.52632865] [-0.09811457 0.99488684 0.02395215 -0.18002048] [ 0.06393979 -0.01771653 0.99779649 2.95040566] [ 0. 0. 0. 1. ]] SLAMing on 189.40538475 meters Centerline goodness : 0.927234 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.99237965 0.10701737 -0.06107297 13.5220381 ] [-0.10539928 0.99400303 0.0291371 -0.17969279] [ 0.06382489 -0.02247802 0.99770793 2.95239103] [ 0. 0. 0. 1. ]] SLAMing on 189.43538475 meters Centerline goodness : 0.926006 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.99227803 0.10796151 -0.0610624 13.52161206] [-0.10632156 0.99389391 0.02950644 -0.18110871] [ 0.06387511 -0.02278634 0.99769773 2.95197514] [ 0. 0. 0. 1. ]] SLAMing on 189.46538475 meters Centerline goodness : 0.928540 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.18, Z:2.95 [[ 0.99218253 0.10892458 -0.06090366 13.52126917] [-0.10725615 0.9937777 0.03003333 -0.18311521] [ 0.06379607 -0.02326625 0.99769171 2.95116925] [ 0. 0. 0. 1. ]] SLAMing on 189.49538475 meters Centerline goodness : 0.932457 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.18, Z:2.95 [[ 9.91331058e-01 1.18817741e-01 -5.60809973e-02 1.34916569e+01] [-1.17941064e-01 9.92844447e-01 1.87031986e-02 -1.76234606e-01] [ 5.79019786e-02 -1.19268091e-02 9.98251027e-01 2.94625134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52538475 meters Centerline goodness : 0.933817 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.18, Z:2.95 [[ 0.99056123 0.12553708 -0.0550353 13.4882112 ] [-0.12442035 0.99195641 0.02328215 -0.17580485] [ 0.05751539 -0.01621488 0.99821293 2.94705927] [ 0. 0. 0. 1. ]] SLAMing on 189.55538475 meters Centerline goodness : 0.934785 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.95 [[ 0.99049657 0.12599466 -0.05515328 13.48832363] [-0.12490982 0.99190822 0.02270742 -0.1736635 ] [ 0.057568 -0.01560244 0.99821966 2.94626166] [ 0. 0. 0. 1. ]] SLAMing on 189.58538475 meters Centerline goodness : 0.934997 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.94 [[ 9.91061053e-01 1.21068293e-01 -5.60397941e-02 1.34906032e+01] [-1.20231878e-01 9.92581254e-01 1.80761939e-02 -1.73427882e-01] [ 5.78125031e-02 -1.11768421e-02 9.98264891e-01 2.94456194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61538475 meters Centerline goodness : 0.935126 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.17, Z:2.94 [[ 9.91037742e-01 1.21085140e-01 -5.64143861e-02 1.34920348e+01] [-1.20275183e-01 9.92585442e-01 1.75505220e-02 -1.72504102e-01] [ 5.81212058e-02 -1.06079791e-02 9.98253172e-01 2.94320929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64538475 meters Centerline goodness : 0.925424 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.94 [[ 9.90736100e-01 1.23018346e-01 -5.75192764e-02 1.34983002e+01] [-1.22029159e-01 9.92316473e-01 2.04181811e-02 -1.71730860e-01] [ 5.95891363e-02 -1.32100002e-02 9.98135577e-01 2.94106280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67538475 meters Centerline goodness : 0.923313 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.94 [[ 9.90757122e-01 1.22674523e-01 -5.78902979e-02 1.34996016e+01] [-1.21693395e-01 9.92362314e-01 2.01929450e-02 -1.71976225e-01] [ 5.99253098e-02 -1.29614371e-02 9.98118710e-01 2.94048730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70538475 meters Centerline goodness : 0.924162 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.94 [[ 9.90771143e-01 1.22297617e-01 -5.84451464e-02 1.35011047e+01] [-1.21305657e-01 9.92408773e-01 2.02426419e-02 -1.72606388e-01] [ 6.04771029e-02 -1.29660986e-02 9.98085367e-01 2.94050991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73538475 meters Centerline goodness : 0.924146 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.17, Z:2.94 [[ 9.90785973e-01 1.21865934e-01 -5.90918757e-02 1.35030407e+01] [-1.20877756e-01 9.92465260e-01 2.00318752e-02 -1.73011152e-01] [ 6.10878370e-02 -1.27044076e-02 9.98051539e-01 2.94007868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76538475 meters Centerline goodness : 0.920953 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.90854464e-01 1.20748149e-01 -6.02272016e-02 1.35069463e+01] [-1.19782070e-01 9.92610368e-01 1.94142513e-02 -1.73486358e-01] [ 6.21263797e-02 -1.20225587e-02 9.97995877e-01 2.93863212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79538475 meters Centerline goodness : 0.919153 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.90905288e-01 1.19898697e-01 -6.10820151e-02 1.35096898e+01] [-1.18906151e-01 9.92711111e-01 1.96462898e-02 -1.74906077e-01] [ 6.29923596e-02 -1.22045852e-02 9.97939382e-01 2.93871374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82538475 meters Centerline goodness : 0.918688 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.91250761e-01 1.16766347e-01 -6.15430638e-02 1.35098190e+01] [-1.16013506e-01 9.93123868e-01 1.56796049e-02 -1.73277677e-01] [ 6.29507358e-02 -8.40259373e-03 9.97981263e-01 2.93754149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85538475 meters Centerline goodness : 0.917587 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.91210506e-01 1.16661896e-01 -6.23837667e-02 1.35120500e+01] [-1.15892632e-01 9.93135706e-01 1.58230196e-02 -1.73672977e-01] [ 6.38014896e-02 -8.45412429e-03 9.97926800e-01 2.93747116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88538475000001 meters Centerline goodness : 0.923955 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.91533503e-01 1.13614767e-01 -6.28728590e-02 1.35108026e+01] [-1.13068732e-01 9.93512422e-01 1.21872393e-02 -1.73893696e-01] [ 6.38496168e-02 -4.97510165e-03 9.97947130e-01 2.93801968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91538475000002 meters Centerline goodness : 0.921323 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.91520127e-01 1.13356444e-01 -6.35464816e-02 1.35126226e+01] [-1.12805056e-01 9.93542113e-01 1.22102312e-02 -1.73817100e-01] [ 6.45202140e-02 -4.93832562e-03 9.97904181e-01 2.93797278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94538475000002 meters Centerline goodness : 0.919987 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.17, Z:2.94 [[ 9.91519007e-01 1.13024725e-01 -6.41519385e-02 1.35148424e+01] [-1.12487929e-01 9.93581468e-01 1.19303030e-02 -1.73295594e-01] [ 6.50885964e-02 -4.61280343e-03 9.97868827e-01 2.93700305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97538475 meters Centerline goodness : 0.921924 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.17, Z:2.94 [[ 9.91563204e-01 1.12193164e-01 -6.49238571e-02 1.35176006e+01] [-1.11664626e-01 9.93676781e-01 1.17246139e-02 -1.73349525e-01] [ 6.58287509e-02 -4.37599745e-03 9.97821340e-01 2.93644129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00538475 meters Centerline goodness : 0.920864 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.17, Z:2.94 [[ 9.91525626e-01 1.12307566e-01 -6.52988793e-02 1.35183763e+01] [-1.11780354e-01 9.93664252e-01 1.16836287e-02 -1.72692705e-01] [ 6.61973219e-02 -4.28548543e-03 9.97797349e-01 2.93640794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03538475 meters Centerline goodness : 0.915219 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.17, Z:2.94 [[ 9.91471332e-01 1.12511614e-01 -6.57703129e-02 1.35196402e+01] [-1.11991972e-01 9.93642023e-01 1.15468227e-02 -1.71651869e-01] [ 6.66512984e-02 -4.08259658e-03 9.97767977e-01 2.93587453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06538475 meters Centerline goodness : 0.916570 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.17, Z:2.94 [[ 9.91478933e-01 1.11659564e-01 -6.70944619e-02 1.35230636e+01] [-1.11095037e-01 9.93736139e-01 1.20986943e-02 -1.72551144e-01] [ 6.80251264e-02 -4.54173879e-03 9.97673271e-01 2.93689620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09538475 meters Centerline goodness : 0.916502 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.17, Z:2.94 [[ 9.91485212e-01 1.11331084e-01 -6.75460120e-02 1.35242507e+01] [-1.10743603e-01 9.93771749e-01 1.23921698e-02 -1.73224093e-01] [ 6.85049521e-02 -4.80636441e-03 9.97639199e-01 2.93742746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12538475 meters Centerline goodness : 0.915942 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.18, Z:2.94 [[ 9.91291369e-01 1.12390271e-01 -6.86283447e-02 1.35308473e+01] [-1.11327719e-01 9.93599646e-01 1.91280540e-02 -1.76700400e-01] [ 7.03389062e-02 -1.13212378e-02 9.97458905e-01 2.94256826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15538475 meters Centerline goodness : 0.915019 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.18, Z:2.94 [[ 9.91345338e-01 1.11127096e-01 -6.98941235e-02 1.35343134e+01] [-1.10030506e-01 9.93739637e-01 1.93602857e-02 -1.78259601e-01] [ 7.16080133e-02 -1.15022432e-02 9.97366528e-01 2.94329020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18538475 meters Centerline goodness : 0.913787 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.18, Z:2.94 [[ 9.91330680e-01 1.10758666e-01 -7.06823970e-02 1.35358716e+01] [-1.09658489e-01 9.93782473e-01 1.92720752e-02 -1.78310337e-01] [ 7.23774766e-02 -1.13540745e-02 9.97312682e-01 2.94372731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21538475 meters Centerline goodness : 0.915340 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.18, Z:2.94 [[ 9.91348860e-01 1.09332805e-01 -7.26207686e-02 1.35407982e+01] [-1.08186578e-01 9.93938440e-01 1.95458797e-02 -1.79284577e-01] [ 7.43175793e-02 -1.15201931e-02 9.97168081e-01 2.94482682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24538475 meters Centerline goodness : 0.913165 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.18, Z:2.95 [[ 9.91375802e-01 1.08519817e-01 -7.34674676e-02 1.35433418e+01] [-1.07340709e-01 9.94024646e-01 1.98236160e-02 -1.80262018e-01] [ 7.51797287e-02 -1.17666031e-02 9.97100574e-01 2.94526756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27538475 meters Centerline goodness : 0.916908 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.18, Z:2.95 [[ 9.91439468e-01 1.06817275e-01 -7.50856195e-02 1.35483872e+01] [-1.05557450e-01 9.94200580e-01 2.05628532e-02 -1.82459535e-01] [ 7.68466344e-02 -1.24609778e-02 9.96965054e-01 2.94642577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30538475 meters Centerline goodness : 0.915357 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.18, Z:2.95 [[ 9.91430678e-01 1.06486356e-01 -7.56694519e-02 1.35497821e+01] [-1.05195079e-01 9.94232761e-01 2.08617279e-02 -1.83416495e-01] [ 7.74545375e-02 -1.27229030e-02 9.96914702e-01 2.94695461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33538475 meters Centerline goodness : 0.914072 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.18, Z:2.95 [[ 9.91819276e-01 1.02074303e-01 -7.66509027e-02 1.35515890e+01] [-1.01066149e-01 9.94735671e-01 1.69286408e-02 -1.83650661e-01] [ 7.79753664e-02 -9.04334068e-03 9.96914269e-01 2.94629872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36538475 meters Centerline goodness : 0.913181 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.19, Z:2.95 [[ 9.92364632e-01 9.58187678e-02 -7.76608090e-02 1.35551818e+01] [-9.50372549e-02 9.95379359e-01 1.37059248e-02 -1.88296609e-01] [ 7.86152511e-02 -6.22060490e-03 9.96885624e-01 2.94641600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39538475 meters Centerline goodness : 0.915635 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.19, Z:2.95 [[ 9.92823865e-01 9.14516585e-02 -7.70543176e-02 1.35544617e+01] [-9.06538387e-02 9.95786896e-01 1.37963551e-02 -1.92732764e-01] [ 7.79913793e-02 -6.71208095e-03 9.96931438e-01 2.95127256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42538475 meters Centerline goodness : 0.917581 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.20, Z:2.95 [[ 9.92829653e-01 9.09984826e-02 -7.75148810e-02 1.35552222e+01] [-9.00716737e-02 9.95816566e-01 1.53772779e-02 -1.95971575e-01] [ 7.85899115e-02 -8.28512237e-03 9.96872601e-01 2.95386663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45538475 meters Centerline goodness : 0.917819 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.94102181e-01 8.24623658e-02 -7.04330307e-02 1.35489470e+01] [-8.13991476e-02 9.96521918e-01 1.78394256e-02 -1.96844495e-01] [ 7.16591401e-02 -1.20010232e-02 9.97356979e-01 2.95444496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48538475 meters Centerline goodness : 0.922902 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.94397195e-01 7.81873986e-02 -7.11403512e-02 1.35501945e+01] [-7.73811437e-02 9.96902950e-01 1.40237732e-02 -1.96814054e-01] [ 7.20165084e-02 -8.44027895e-03 9.97367728e-01 2.95412364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51538475 meters Centerline goodness : 0.913330 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:2.96 [[ 0.99507849 0.07300246 -0.06700333 13.5444386 ] [-0.07189083 0.99723422 0.01885766 -0.19885869] [ 0.06819467 -0.01394792 0.99757453 2.95799783] [ 0. 0. 0. 1. ]] SLAMing on 190.54538475 meters Centerline goodness : 0.916939 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:2.96 [[ 0.99536725 0.07046162 -0.06541565 13.54281703] [-0.06930838 0.99740001 0.01973736 -0.20024876] [ 0.06663629 -0.01511206 0.99766288 2.95754585] [ 0. 0. 0. 1. ]] SLAMing on 190.57538475 meters Centerline goodness : 0.913888 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:2.96 [[ 0.99580369 0.06622124 -0.06316455 13.53990196] [-0.06509916 0.99768507 0.01966231 -0.20204641] [ 0.06432039 -0.01546785 0.99780942 2.95703811] [ 0. 0. 0. 1. ]] SLAMing on 190.60538475 meters Centerline goodness : 0.911556 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:2.96 [[ 0.99594363 0.06476057 -0.06246879 13.53867853] [-0.06362102 0.99777242 0.02006377 -0.20311283] [ 0.06362897 -0.01600806 0.99784523 2.95797838] [ 0. 0. 0. 1. ]] SLAMing on 190.63538475000001 meters Centerline goodness : 0.911749 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:2.96 [[ 9.96224951e-01 5.86679763e-02 -6.39837166e-02 1.35438370e+01] [-5.78256121e-02 9.98214901e-01 1.49402153e-02 -2.04062649e-01] [ 6.47460116e-02 -1.11839177e-02 9.97839102e-01 2.95536432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66538475000002 meters Centerline goodness : 0.919509 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96420822e-01 5.46586807e-02 -6.44823512e-02 1.35450021e+01] [-5.40998994e-02 9.98481561e-01 1.03814235e-02 -2.02847017e-01] [ 6.49518736e-02 -6.85577784e-03 9.97864847e-01 2.95354441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69538475000002 meters Centerline goodness : 0.909283 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96380533e-01 5.41378263e-02 -6.55357144e-02 1.35471275e+01] [-5.35535836e-02 9.98508286e-01 1.06403042e-02 -2.04188365e-01] [ 6.60139968e-02 -7.09211963e-03 9.97793493e-01 2.95439543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72538475 meters Centerline goodness : 0.914089 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96348163e-01 5.38189089e-02 -6.62862148e-02 1.35489091e+01] [-5.32280488e-02 9.98525599e-01 1.06491152e-02 -2.04617199e-01] [ 6.67616061e-02 -7.08194052e-03 9.97743822e-01 2.95440996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75538475 meters Centerline goodness : 0.913454 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96261235e-01 5.46904985e-02 -6.68767538e-02 1.35492017e+01] [-5.41119271e-02 9.98480364e-01 1.04337221e-02 -2.01583111e-01] [ 6.73457510e-02 -6.77588288e-03 9.97706689e-01 2.95486808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78538475 meters Centerline goodness : 0.910088 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96204966e-01 5.51774704e-02 -6.73135414e-02 1.35499607e+01] [-5.46286876e-02 9.98456985e-01 9.96769495e-03 -2.00042147e-01] [ 6.77596678e-02 -6.25261679e-03 9.97682080e-01 2.95387453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81538475 meters Centerline goodness : 0.908299 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96148988e-01 5.56910888e-02 -6.77177768e-02 1.35503826e+01] [-5.51472152e-02 9.98429392e-01 9.87594890e-03 -1.99242233e-01] [ 6.81614210e-02 -6.10346969e-03 9.97655636e-01 2.95357012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84538475 meters Centerline goodness : 0.910892 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:2.95 [[ 9.96103941e-01 5.61575293e-02 -6.79946299e-02 1.35505686e+01] [-5.56236426e-02 9.98404480e-01 9.72134514e-03 -1.98663520e-01] [ 6.84320699e-02 -5.90136122e-03 9.97638324e-01 2.95322585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87538475 meters Centerline goodness : 0.907328 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.20, Z:2.95 [[ 9.95754949e-01 6.78381396e-02 -6.22098658e-02 1.35559511e+01] [-6.74830005e-02 9.97689976e-01 7.79458528e-03 -2.03502869e-01] [ 6.25949297e-02 -3.56338847e-03 9.98032653e-01 2.94938627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90538475 meters Centerline goodness : 0.905972 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.21, Z:2.95 [[ 9.95539237e-01 7.05118787e-02 -6.26873460e-02 1.35555372e+01] [-7.00858049e-02 9.97500612e-01 8.97267944e-03 -2.05066455e-01] [ 6.31633465e-02 -4.53916134e-03 9.97992880e-01 2.95106726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93538475 meters Centerline goodness : 0.904753 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.21, Z:2.95 [[ 9.94674266e-01 7.89036653e-02 -6.63122671e-02 1.35585871e+01] [-7.84805862e-02 9.96875330e-01 8.96512867e-03 -2.05775061e-01] [ 6.68124447e-02 -3.71315718e-03 9.97758643e-01 2.95402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96538475 meters Centerline goodness : 0.907341 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.21, Z:2.95 [[ 9.94098571e-01 8.28041150e-02 -7.00821567e-02 1.35639319e+01] [-8.24715705e-02 9.96564207e-01 7.63028355e-03 -2.06971405e-01] [ 7.04731878e-02 -1.80546844e-03 9.97512040e-01 2.95379080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99538475 meters Centerline goodness : 0.901688 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.21, Z:2.96 [[ 9.93022813e-01 9.37982581e-02 -7.14673354e-02 1.35646024e+01] [-9.31002629e-02 9.95571300e-01 1.30432856e-02 -2.09054234e-01] [ 7.23742655e-02 -6.29865248e-03 9.97357655e-01 2.95620148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02538475 meters Centerline goodness : 0.904001 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.21, Z:2.96 [[ 9.92423412e-01 9.93470626e-02 -7.22906122e-02 1.35646223e+01] [-9.85455297e-02 9.95025730e-01 1.45799383e-02 -2.09637822e-01] [ 7.33794932e-02 -7.34555546e-03 9.97277039e-01 2.95787080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05538475 meters Centerline goodness : 0.901745 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.21, Z:2.95 [[ 9.91281572e-01 1.05926792e-01 -7.83604481e-02 1.35728904e+01] [-1.05715146e-01 9.94372818e-01 6.85609499e-03 -2.09944996e-01] [ 7.86457438e-02 1.48756556e-03 9.96901517e-01 2.95346469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08538475 meters Centerline goodness : 0.902950 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.21, Z:2.95 [[ 9.90774093e-01 1.07920835e-01 -8.19743235e-02 1.35777757e+01] [-1.07978998e-01 9.94146154e-01 3.73641169e-03 -2.09839266e-01] [ 8.18976951e-02 5.14956539e-03 9.96627438e-01 2.95375132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11538475 meters Centerline goodness : 0.907415 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.21, Z:2.95 [[ 9.90257739e-01 1.10238007e-01 -8.50716844e-02 1.35818357e+01] [-1.10644669e-01 9.93860027e-01 -6.57149280e-05 -2.08946657e-01] [ 8.45421023e-02 9.47780305e-03 9.96374831e-01 2.95341296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14538475 meters Centerline goodness : 0.906412 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.21, Z:2.95 [[ 9.90088662e-01 1.11555340e-01 -8.53220244e-02 1.35819600e+01] [-1.11972163e-01 9.93711339e-01 -1.00347174e-04 -2.08181527e-01] [ 8.47742688e-02 9.65304418e-03 9.96353422e-01 2.95429261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17538475 meters Centerline goodness : 0.907044 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.95 [[ 9.90051931e-01 1.09644124e-01 -8.81778928e-02 1.35869626e+01] [-1.10542164e-01 9.93857027e-01 -5.35167770e-03 -2.07102842e-01] [ 8.70494384e-02 1.50458139e-02 9.96090367e-01 2.95237761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20538475 meters Centerline goodness : 0.907044 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.95 [[ 9.90051931e-01 1.09644124e-01 -8.81778928e-02 1.35869626e+01] [-1.10542164e-01 9.93857027e-01 -5.35167770e-03 -2.07102842e-01] [ 8.70494384e-02 1.50458139e-02 9.96090367e-01 2.95237761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23538475 meters Centerline goodness : 0.913807 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.21, Z:2.96 [[ 9.90447424e-01 1.07727858e-01 -8.60732727e-02 1.35829323e+01] [-1.08594691e-01 9.94071229e-01 -5.43917697e-03 -2.05815619e-01] [ 8.49770131e-02 1.47343193e-02 9.96273962e-01 2.95515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26538475 meters Centerline goodness : 0.915461 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.95 [[ 9.90822550e-01 1.05030711e-01 -8.50836295e-02 1.35819816e+01] [-1.05926332e-01 9.94355462e-01 -6.06858597e-03 -2.04954515e-01] [ 8.39659838e-02 1.50254886e-02 9.96355332e-01 2.95496601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29538475 meters Centerline goodness : 0.889580 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.91289772e-01 1.03784517e-01 -8.10762669e-02 1.35758419e+01] [-1.04204102e-01 9.94555480e-01 -9.49731340e-04 -2.04562830e-01] [ 8.05362782e-02 9.38993857e-03 9.96707448e-01 2.95987448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32538475 meters Centerline goodness : 0.905978 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.20, Z:2.96 [[ 9.91995110e-01 9.92303569e-02 -7.80963383e-02 1.35728293e+01] [-9.95907853e-02 9.95028216e-01 -7.24324314e-04 -2.03303672e-01] [ 7.76361852e-02 8.49620184e-03 9.96945554e-01 2.95842352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35538475 meters Centerline goodness : 0.910755 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.20, Z:2.96 [[ 9.92767524e-01 9.60955771e-02 -7.19602918e-02 1.35657263e+01] [-9.60363181e-02 9.95368582e-01 4.29098562e-03 -2.01409735e-01] [ 7.20393584e-02 2.65085031e-03 9.97398267e-01 2.96071294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38538475000001 meters Centerline goodness : 0.900638 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.20, Z:2.96 [[ 9.93180573e-01 9.10619983e-02 -7.28015306e-02 1.35681582e+01] [-9.13538736e-02 9.95818258e-01 -6.82567553e-04 -1.99088767e-01] [ 7.24349375e-02 7.32861466e-03 9.97346214e-01 2.95901234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41538475000002 meters Centerline goodness : 0.890306 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.20, Z:2.96 [[ 9.93643355e-01 8.47862047e-02 -7.40552653e-02 1.35721873e+01] [-8.54388102e-02 9.96327208e-01 -5.68363882e-03 -1.98408985e-01] [ 7.33013815e-02 1.19747037e-02 9.97237942e-01 2.95782218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44538475000002 meters Centerline goodness : 0.903596 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93713507e-01 8.32984102e-02 -7.47986673e-02 1.35751336e+01] [-8.39559786e-02 9.96453248e-01 -5.68484051e-03 -1.99579522e-01] [ 7.40598368e-02 1.19288981e-02 9.97182452e-01 2.95795241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47538475 meters Centerline goodness : 0.903917 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.94043438e-01 7.89199854e-02 -7.51616922e-02 1.35802131e+01] [-7.96995786e-02 9.96791274e-01 -7.42519541e-03 -2.00538665e-01] [ 7.43345226e-02 1.33713220e-02 9.97143714e-01 2.95650775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50538475 meters Centerline goodness : 0.886184 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.94034698e-01 7.83782563e-02 -7.58410667e-02 1.35821512e+01] [-7.91406865e-02 9.96838203e-01 -7.09573764e-03 -2.00806132e-01] [ 7.50451211e-02 1.30555235e-02 9.97094671e-01 2.95715670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53538475 meters Centerline goodness : 0.888281 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.94023626e-01 7.79954733e-02 -7.63788987e-02 1.35835261e+01] [-7.87334932e-02 9.96873219e-01 -6.69496288e-03 -2.01343489e-01] [ 7.56179018e-02 1.26685288e-02 9.97056388e-01 2.95796516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56538475 meters Centerline goodness : 0.879755 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.96 [[ 9.93989477e-01 7.75666437e-02 -7.72549994e-02 1.35859233e+01] [-7.83012217e-02 9.96908421e-01 -6.52061495e-03 -2.00701848e-01] [ 7.65103773e-02 1.25305835e-02 9.96990043e-01 2.95845969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59538475 meters Centerline goodness : 0.891153 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93694013e-01 8.09681971e-02 -7.75652000e-02 1.35830957e+01] [-8.15005533e-02 9.96666364e-01 -3.71730144e-03 -1.99621627e-01] [ 7.70056426e-02 1.00154669e-02 9.96980352e-01 2.96255187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62538475 meters Centerline goodness : 0.919315 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93630276e-01 8.14813504e-02 -7.78438445e-02 1.35828067e+01] [-8.19844333e-02 9.96628201e-01 -3.28354048e-03 -1.98403496e-01] [ 7.73138234e-02 9.64460870e-03 9.96960157e-01 2.96392874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65538475 meters Centerline goodness : 0.924066 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93508542e-01 8.29145510e-02 -7.78842338e-02 1.35834554e+01] [-8.33159514e-02 9.96521346e-01 -1.91296075e-03 -1.95289148e-01] [ 7.74546892e-02 8.38954188e-03 9.96960574e-01 2.96452957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68538475 meters Centerline goodness : 0.920525 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.96 [[ 9.93189460e-01 8.60689331e-02 -7.85292029e-02 1.35866228e+01] [-8.61613435e-02 9.96278730e-01 2.21712506e-03 -1.95872639e-01] [ 7.84278001e-02 4.56415639e-03 9.96909348e-01 2.96481414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71538475 meters Centerline goodness : 0.921223 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93240603e-01 9.80548254e-02 -6.21156697e-02 1.35787705e+01] [-9.79325518e-02 9.95180407e-01 5.01732177e-03 -1.99094867e-01] [ 6.23082700e-02 1.09973834e-03 9.98056346e-01 2.95827983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74538475 meters Centerline goodness : 0.921644 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93243731e-01 9.78039578e-02 -6.24601980e-02 1.35800627e+01] [-9.77077300e-02 9.95204519e-01 4.60053698e-03 -1.98553203e-01] [ 6.26106220e-02 1.53338964e-03 9.98036852e-01 2.95744307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77538475 meters Centerline goodness : 0.921098 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93220010e-01 9.73333001e-02 -6.35628832e-02 1.35825496e+01] [-9.72723048e-02 9.95249520e-01 4.06087221e-03 -1.99819250e-01] [ 6.36561871e-02 2.14956861e-03 9.97969573e-01 2.95634614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80538475 meters Centerline goodness : 0.922679 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93171567e-01 9.78445186e-02 -6.35349364e-02 1.35819404e+01] [-9.77569243e-02 9.95200178e-01 4.49334769e-03 -2.01188984e-01] [ 6.36696294e-02 1.74831480e-03 9.97969499e-01 2.95712716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83538475 meters Centerline goodness : 0.922651 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.20, Z:2.96 [[ 9.93172933e-01 9.73800115e-02 -6.42235101e-02 1.35837290e+01] [-9.73008940e-02 9.95245434e-01 4.36596441e-03 -2.01702882e-01] [ 6.43433129e-02 1.91284727e-03 9.97925989e-01 2.95705212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86538475 meters Centerline goodness : 0.921458 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.96 [[ 9.93191112e-01 9.68010879e-02 -6.48148527e-02 1.35858287e+01] [-9.67346438e-02 9.95301472e-01 4.16998346e-03 -2.02501739e-01] [ 6.49139773e-02 2.12825119e-03 9.97888594e-01 2.95634704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89538475 meters Centerline goodness : 0.922042 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.20, Z:2.96 [[ 9.93148783e-01 9.67025533e-02 -6.56057167e-02 1.35880674e+01] [-9.66337992e-02 9.95311023e-01 4.22794188e-03 -2.03302737e-01] [ 6.57069458e-02 2.14075432e-03 9.97836667e-01 2.95568382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92538475 meters Centerline goodness : 0.924282 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.21, Z:2.96 [[ 9.93042674e-01 9.78649759e-02 -6.54881190e-02 1.35876156e+01] [-9.76967225e-02 9.95199481e-01 5.77446133e-03 -2.05165658e-01] [ 6.57388595e-02 6.63688059e-04 9.97836641e-01 2.95620264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95538475 meters Centerline goodness : 0.923563 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.21, Z:2.95 [[ 9.92891838e-01 1.01492664e-01 -6.21694262e-02 1.36033319e+01] [-1.01787266e-01 9.94804931e-01 -1.58185845e-03 -2.05351465e-01] [ 6.16859047e-02 7.89867024e-03 9.98064357e-01 2.95107577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98538475 meters Centerline goodness : 0.924792 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.21, Z:2.95 [[ 9.92619938e-01 1.02628730e-01 -6.45987819e-02 1.36077036e+01] [-1.02996756e-01 9.94678835e-01 -2.38406336e-03 -2.06391891e-01] [ 6.40103677e-02 9.01993378e-03 9.97908470e-01 2.95041056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01538475 meters Centerline goodness : 0.928930 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.21, Z:2.94 [[ 0.99183214 0.10705679 -0.06933868 13.62259927] [-0.10829444 0.99401554 -0.01433241 -0.20891623] [ 0.06738934 0.02172434 0.99749022 2.9421634 ] [ 0. 0. 0. 1. ]] SLAMing on 192.04538475 meters Centerline goodness : 0.932793 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.21, Z:2.94 [[ 0.99160917 0.10832929 -0.07054091 13.62360413] [-0.10969215 0.99384113 -0.01573046 -0.20869607] [ 0.06840239 0.02333625 0.99738485 2.94340615] [ 0. 0. 0. 1. ]] SLAMing on 192.07538475 meters Centerline goodness : 0.934185 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.94 [[ 0.99113455 0.10940578 -0.07538353 13.63161709] [-0.11147365 0.99348283 -0.02378004 -0.20792415] [ 0.07229057 0.03197249 0.99687102 2.93782525] [ 0. 0. 0. 1. ]] SLAMing on 192.10538475 meters Centerline goodness : 0.934950 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.94 [[ 0.99107911 0.10994546 -0.07532719 13.63141127] [-0.11198417 0.99343479 -0.02338501 -0.20658764] [ 0.07226158 0.03161185 0.99688462 2.93825828] [ 0. 0. 0. 1. ]] SLAMing on 192.13538475000001 meters Centerline goodness : 0.935299 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.94 [[ 0.99106587 0.11014692 -0.07520705 13.63099999] [-0.11213892 0.99343126 -0.02278597 -0.20595027] [ 0.07220323 0.03101603 0.99690757 2.93953118] [ 0. 0. 0. 1. ]] SLAMing on 192.16538475000002 meters Centerline goodness : 0.937081 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.94 [[ 0.99129677 0.10819681 -0.07499445 13.63030511] [-0.11026668 0.99361174 -0.02402012 -0.2061889 ] [ 0.07191646 0.03208046 0.99689461 2.9399702 ] [ 0. 0. 0. 1. ]] SLAMing on 192.19538475000002 meters Centerline goodness : 0.938810 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99194159 0.10310289 -0.073632 13.6283184 ] [-0.10526623 0.99410098 -0.02612009 -0.20497019] [ 0.07050458 0.03366056 0.99694336 2.93988465] [ 0. 0. 0. 1. ]] SLAMing on 192.22538475 meters Centerline goodness : 0.937856 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99207907 0.10207803 -0.07320646 13.62813604] [-0.10416681 0.99423809 -0.02529622 -0.20481574] [ 0.07020246 0.03272154 0.99699595 2.93995149] [ 0. 0. 0. 1. ]] SLAMing on 192.25538475 meters Centerline goodness : 0.936317 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99197096 0.10364804 -0.07246165 13.6282307 ] [-0.10549303 0.99417431 -0.02210559 -0.20410274] [ 0.06974831 0.0295723 0.9971262 2.93955969] [ 0. 0. 0. 1. ]] SLAMing on 192.28538475 meters Centerline goodness : 0.936680 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99197584 0.10307004 -0.07321545 13.63114496] [-0.10498426 0.99421281 -0.02278604 -0.2020185 ] [ 0.07044318 0.03028967 0.99705581 2.93823045] [ 0. 0. 0. 1. ]] SLAMing on 192.31538475 meters Centerline goodness : 0.930587 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.9915582 0.107353 -0.07271638 13.63112514] [-0.10896332 0.99387284 -0.01854112 -0.20139723] [ 0.07028039 0.02630801 0.9971803 2.93869342] [ 0. 0. 0. 1. ]] SLAMing on 192.34538475 meters Centerline goodness : 0.931356 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99153899 0.10743148 -0.07286224 13.63176266] [-0.10902615 0.99387111 -0.01826242 -0.20168155] [ 0.07045372 0.0260518 0.9971748 2.93866158] [ 0. 0. 0. 1. ]] SLAMing on 192.37538475 meters Centerline goodness : 0.931949 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99136403 0.10884026 -0.07315167 13.63087371] [-0.11046286 0.99370802 -0.01850219 -0.20196214] [ 0.07067762 0.02642295 0.99714919 2.94068225] [ 0. 0. 0. 1. ]] SLAMing on 192.40538475 meters Centerline goodness : 0.935074 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.94 [[ 0.99116816 0.110874 -0.07275047 13.62794574] [-0.11239413 0.993516 -0.01713242 -0.20194193] [ 0.07037922 0.02515783 0.99720301 2.94273636] [ 0. 0. 0. 1. ]] SLAMing on 192.43538475 meters Centerline goodness : 0.939514 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:2.95 [[ 9.90592117e-01 1.16266508e-01 -7.21758703e-02 1.36258960e+01] [-1.17392902e-01 9.93018369e-01 -1.15510154e-02 -2.03152423e-01] [ 7.03289688e-02 1.99152796e-02 9.97325031e-01 2.94572328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46538475 meters Centerline goodness : 0.938752 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.95 [[ 9.90127330e-01 1.20019655e-01 -7.24096200e-02 1.36273497e+01] [-1.20707943e-01 9.92674498e-01 -5.18967298e-03 -2.06019674e-01] [ 7.12563204e-02 1.38788533e-02 9.97361476e-01 2.94987718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49538475 meters Centerline goodness : 0.938160 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.95 [[ 9.90039101e-01 1.20885605e-01 -7.21751261e-02 1.36264327e+01] [-1.21536772e-01 9.92575881e-01 -4.68333461e-03 -2.06357111e-01] [ 7.10731416e-02 1.34086162e-02 9.97380979e-01 2.95005859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52538475 meters Centerline goodness : 0.941372 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.95 [[ 9.89998819e-01 1.21092392e-01 -7.23807391e-02 1.36260313e+01] [-1.21657670e-01 9.92566170e-01 -3.43651884e-03 -2.08314366e-01] [ 7.14265367e-02 1.22078217e-02 9.97371154e-01 2.95227999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55538475 meters Centerline goodness : 0.939628 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.96 [[ 9.89773076e-01 1.22623221e-01 -7.28889872e-02 1.36313798e+01] [-1.22631019e-01 9.92442645e-01 4.38521128e-03 -2.12033425e-01] [ 7.28758680e-02 4.59808669e-03 9.97330419e-01 2.95933510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58538475 meters Centerline goodness : 0.938652 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.21, Z:2.96 [[ 9.89803513e-01 1.22145690e-01 -7.32764336e-02 1.36330863e+01] [-1.22170254e-01 9.92500424e-01 4.16371873e-03 -2.11589861e-01] [ 7.32354717e-02 4.83093707e-03 9.97302977e-01 2.95867874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61538475 meters Centerline goodness : 0.939605 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.89572104e-01 1.23607614e-01 -7.39473397e-02 1.36381387e+01] [-1.23353847e-01 9.92330450e-01 8.00668840e-03 -2.13029230e-01] [ 7.43698845e-02 1.19849333e-03 9.97230006e-01 2.95912275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64538475 meters Centerline goodness : 0.937731 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.89707977e-01 1.22007219e-01 -7.47820820e-02 1.36423434e+01] [-1.21818360e-01 9.92527025e-01 7.09874762e-03 -2.12107058e-01] [ 7.50893358e-02 2.08414344e-03 9.97174633e-01 2.95720874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67538475 meters Centerline goodness : 0.936734 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.89711072e-01 1.21705046e-01 -7.52321435e-02 1.36437583e+01] [-1.21492944e-01 9.92564661e-01 7.40662207e-03 -2.12185782e-01] [ 7.55741903e-02 1.80975875e-03 9.97138539e-01 2.95754427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70538475 meters Centerline goodness : 0.934358 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.89700801e-01 1.21563222e-01 -7.55956864e-02 1.36447020e+01] [-1.21334324e-01 9.92582368e-01 7.63049712e-03 -2.12024538e-01] [ 7.59625332e-02 1.62044241e-03 9.97109356e-01 2.95798356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73538475 meters Centerline goodness : 0.935872 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.89647955e-01 1.21786725e-01 -7.59270618e-02 1.36456544e+01] [-1.21576105e-01 9.92554473e-01 7.40731324e-03 -2.10341568e-01] [ 7.62638573e-02 1.90028402e-03 9.97085860e-01 2.95747969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76538475 meters Centerline goodness : 0.932727 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.89591095e-01 1.22116307e-01 -7.61385035e-02 1.36462254e+01] [-1.21903265e-01 9.92513974e-01 7.45689023e-03 -2.09610117e-01] [ 7.64791366e-02 1.90225997e-03 9.97069367e-01 2.95719942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79538475 meters Centerline goodness : 0.929677 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.89346880e-01 1.23851537e-01 -7.65084827e-02 1.36461475e+01] [-1.23624645e-01 9.92299076e-01 7.71299217e-03 -2.07762666e-01] [ 7.68745627e-02 1.82750925e-03 9.97039097e-01 2.95661934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82538475 meters Centerline goodness : 0.928716 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.89230716e-01 1.24798389e-01 -7.64719065e-02 1.36457708e+01] [-1.24550950e-01 9.92180838e-01 8.01529981e-03 -2.06930198e-01] [ 7.68742568e-02 1.59566780e-03 9.97039519e-01 2.95646670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85538475 meters Centerline goodness : 0.925612 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.88991402e-01 1.26858742e-01 -7.61765436e-02 1.36436813e+01] [-1.26570416e-01 9.91920165e-01 8.62065913e-03 -2.05977917e-01] [ 7.66546557e-02 1.11593903e-03 9.97057079e-01 2.95676585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88538475000001 meters Centerline goodness : 0.926264 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.88869376e-01 1.27880012e-01 -7.60530025e-02 1.36424137e+01] [-1.27571400e-01 9.91789257e-01 8.92235337e-03 -2.05334990e-01] [ 7.65695415e-02 8.79145960e-04 9.97063856e-01 2.95729761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91538475000002 meters Centerline goodness : 0.929031 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.20, Z:2.96 [[ 9.88725105e-01 1.29026015e-01 -7.59931252e-02 1.36416156e+01] [-1.28689378e-01 9.91641054e-01 9.33077425e-03 -2.04096219e-01] [ 7.65618154e-02 5.53937297e-04 9.97064683e-01 2.95772245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94538475000002 meters Centerline goodness : 0.929471 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.88278521e-01 1.32266539e-01 -7.62307590e-02 1.36435890e+01] [-1.31544683e-01 9.91205121e-01 1.44362350e-02 -2.06220642e-01] [ 7.74697495e-02 -4.23926995e-03 9.96985690e-01 2.96009386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97538475 meters Centerline goodness : 0.928882 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.88249404e-01 1.32349169e-01 -7.64644495e-02 1.36435641e+01] [-1.31602152e-01 9.91192881e-01 1.47494208e-02 -2.06287911e-01] [ 7.77430916e-02 -4.51322021e-03 9.96963210e-01 2.96110006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00538475 meters Centerline goodness : 0.928916 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.21, Z:2.96 [[ 9.88255615e-01 1.32103870e-01 -7.68075924e-02 1.36447636e+01] [-1.31353751e-01 9.91225676e-01 1.47598131e-02 -2.06124933e-01] [ 7.80834861e-02 -4.49750286e-03 9.96936679e-01 2.96094761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03538475 meters Centerline goodness : 0.925172 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.20, Z:2.96 [[ 9.88257308e-01 1.31722568e-01 -7.74380896e-02 1.36471464e+01] [-1.31027572e-01 9.91279717e-01 1.40106081e-02 -2.03853225e-01] [ 7.86083208e-02 -3.69956098e-03 9.96898714e-01 2.95950236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06538475 meters Centerline goodness : 0.923229 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.20, Z:2.96 [[ 9.88284821e-01 1.31202516e-01 -7.79680237e-02 1.36491957e+01] [-1.30520506e-01 9.91349535e-01 1.38020542e-02 -2.03435858e-01] [ 7.91044283e-02 -3.46393481e-03 9.96860316e-01 2.95889578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09538475 meters Centerline goodness : 0.923229 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.20, Z:2.96 [[ 9.88284821e-01 1.31202516e-01 -7.79680237e-02 1.36491957e+01] [-1.30520506e-01 9.91349535e-01 1.38020542e-02 -2.03435858e-01] [ 7.91044283e-02 -3.46393481e-03 9.96860316e-01 2.95889578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12538475 meters Centerline goodness : 0.924286 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.20, Z:2.96 [[ 9.88434766e-01 1.29508215e-01 -7.88944581e-02 1.36524153e+01] [-1.28845474e-01 9.91573394e-01 1.34553831e-02 -2.04882382e-01] [ 7.99722283e-02 -3.13457466e-03 9.96792163e-01 2.95879803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15538475 meters Centerline goodness : 0.921883 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.88983368e-01 1.24786102e-01 -7.96261730e-02 1.36538488e+01] [-1.24420092e-01 9.92183564e-01 9.56114793e-03 -2.05674133e-01] [ 8.01968785e-02 4.51279485e-04 9.96778941e-01 2.95824630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18538475 meters Centerline goodness : 0.924041 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.21, Z:2.96 [[ 9.88998932e-01 1.24407825e-01 -8.00237780e-02 1.36549991e+01] [-1.24022201e-01 9.92231140e-01 9.79075791e-03 -2.06681095e-01] [ 8.06201313e-02 2.41675939e-04 9.96744870e-01 2.95853543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21538475 meters Centerline goodness : 0.923791 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89027750e-01 1.23864363e-01 -8.05091829e-02 1.36564308e+01] [-1.23471339e-01 9.92299141e-01 9.86123912e-03 -2.07852996e-01] [ 8.11106491e-02 1.87537471e-04 9.96705085e-01 2.95858092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24538475 meters Centerline goodness : 0.924208 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89054898e-01 1.23397690e-01 -8.08913960e-02 1.36578772e+01] [-1.23007137e-01 9.92357269e-01 9.81294606e-03 -2.08113919e-01] [ 8.14840597e-02 2.44676661e-04 9.96674615e-01 2.95838636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27538475 meters Centerline goodness : 0.924698 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89073849e-01 1.23139764e-01 -8.10525762e-02 1.36587887e+01] [-1.22749964e-01 9.92389303e-01 9.79371174e-03 -2.07923693e-01] [ 8.16417050e-02 2.62496605e-04 9.96661709e-01 2.95815129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30538475 meters Centerline goodness : 0.925042 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89050507e-01 1.23204180e-01 -8.12393041e-02 1.36591489e+01] [-1.22742325e-01 9.92381170e-01 1.06740142e-02 -2.08988432e-01] [ 8.19354389e-02 -5.85638135e-04 9.96637467e-01 2.95928869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33538475 meters Centerline goodness : 0.925522 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89526263e-01 1.19202659e-01 -8.14156082e-02 1.36589253e+01] [-1.19061895e-01 9.92864904e-01 6.59903708e-03 -2.08392538e-01] [ 8.16213228e-02 3.16357610e-03 9.96658393e-01 2.95852171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36538475 meters Centerline goodness : 0.925630 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.89979577e-01 1.15144063e-01 -8.17452302e-02 1.36592581e+01] [-1.15332281e-01 9.93323992e-01 2.43143040e-03 -2.07627246e-01] [ 8.14794632e-02 7.02079742e-03 9.96650292e-01 2.95738314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39538475 meters Centerline goodness : 0.926990 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.90012164e-01 1.14918959e-01 -8.16672970e-02 1.36590519e+01] [-1.15022710e-01 9.93356875e-01 3.44881618e-03 -2.09737910e-01] [ 8.15211053e-02 5.97922387e-03 9.96653680e-01 2.95894262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42538475 meters Centerline goodness : 0.924598 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.21, Z:2.96 [[ 9.90039490e-01 1.14469531e-01 -8.19666663e-02 1.36601419e+01] [-1.14489187e-01 9.93414412e-01 4.47578599e-03 -2.12548336e-01] [ 8.19392087e-02 4.95309213e-03 9.96625021e-01 2.95998425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45538475 meters Centerline goodness : 0.921898 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.97 [[ 9.90978549e-01 1.09865035e-01 -7.67540851e-02 1.36536117e+01] [-1.09029615e-01 9.93925259e-01 1.50040684e-02 -2.15826364e-01] [ 7.79362465e-02 -6.50024158e-03 9.96937154e-01 2.96841337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48538475 meters Centerline goodness : 0.917341 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.97 [[ 9.91267099e-01 1.07909511e-01 -7.57962807e-02 1.36526883e+01] [-1.07057691e-01 9.94136235e-01 1.52248678e-02 -2.15653069e-01] [ 7.69947372e-02 -6.97733568e-03 9.97007085e-01 2.96849898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51538475 meters Centerline goodness : 0.918945 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.97 [[ 9.91558748e-01 1.04408533e-01 -7.68772293e-02 1.36539935e+01] [-1.03763866e-01 9.94525358e-01 1.23438930e-02 -2.15037718e-01] [ 7.77451618e-02 -4.26261659e-03 9.96964152e-01 2.96953391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54538475 meters Centerline goodness : 0.922610 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.97 [[ 9.92474820e-01 9.66758890e-02 -7.51498791e-02 1.36518925e+01] [-9.62549442e-02 9.95314085e-01 9.21179884e-03 -2.16122268e-01] [ 7.56882921e-02 -1.90893097e-03 9.97129700e-01 2.96914893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57538475 meters Centerline goodness : 0.918012 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.97 [[ 9.93592899e-01 8.71920387e-02 -7.19075794e-02 1.36502965e+01] [-8.67446772e-02 9.96186915e-01 9.32687209e-03 -2.19023991e-01] [ 7.24466187e-02 -3.02951411e-03 9.97367690e-01 2.96627594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60538475 meters Centerline goodness : 0.918777 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.22, Z:2.96 [[ 9.93773866e-01 8.33997809e-02 -7.38781462e-02 1.36545488e+01] [-8.32588891e-02 9.96515457e-01 4.99014521e-03 -2.18616363e-01] [ 7.40368917e-02 1.19193649e-03 9.97254791e-01 2.96407381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63538475000001 meters Centerline goodness : 0.911907 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.22, Z:2.96 [[ 9.94131482e-01 7.82273853e-02 -7.47199643e-02 1.36559354e+01] [-7.83370245e-02 9.96925854e-01 1.46681909e-03 -2.18426734e-01] [ 7.46050097e-02 4.39512864e-03 9.97203477e-01 2.96479526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66538475000002 meters Centerline goodness : 0.912287 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.22, Z:2.97 [[ 9.94101867e-01 7.84438383e-02 -7.48868599e-02 1.36556954e+01] [-7.85151258e-02 9.96910924e-01 1.99615897e-03 -2.18646632e-01] [ 7.48121151e-02 3.89536587e-03 9.97190039e-01 2.96611634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69538475000002 meters Centerline goodness : 0.910373 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.22, Z:2.97 [[ 9.94206368e-01 7.52182639e-02 -7.67848332e-02 1.36588570e+01] [-7.56870715e-02 9.97126454e-01 -3.20958733e-03 -2.17323149e-01] [ 7.63227689e-02 9.00261132e-03 9.97042521e-01 2.96530782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72538475 meters Centerline goodness : 0.908932 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.22, Z:2.96 [[ 9.94342789e-01 7.30102708e-02 -7.71486765e-02 1.36602885e+01] [-7.35758525e-02 9.97279424e-01 -4.51048007e-03 -2.17387259e-01] [ 7.66094763e-02 1.01612430e-02 9.97009397e-01 2.96444215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75538475 meters Centerline goodness : 0.909294 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.22, Z:2.96 [[ 9.94398486e-01 7.62377985e-02 -7.32082627e-02 1.36705175e+01] [-7.71984369e-02 9.96961721e-01 -1.03791822e-02 -2.21123790e-01] [ 7.21945496e-02 1.59726065e-02 9.97262665e-01 2.95872021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78538475 meters Centerline goodness : 0.910123 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.23, Z:2.96 [[ 9.94412663e-01 8.37317041e-02 -6.42841935e-02 1.36733720e+01] [-8.44210535e-02 9.96397424e-01 -8.07835244e-03 -2.26657432e-01] [ 6.33761906e-02 1.34601553e-02 9.97898934e-01 2.95943272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11516.34 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%| | 0/6460 [00:00